Home

Mechatrolink-II Promotional Brochure - Products

Contents

1. Dimensions mm Model Key dimensions weight LM LR C1 C2 D1 D2 D3 D4 ES F G S T 2 22 I kg QK b h t 1 5 R7G RGSF05B100 67 5 32 52 40 46 60 50 45 10 3 6 12 20 M4 M5 12 16 4 4 25 0 55 100W 1 9 R7G RGSF09B100 67 5 32 52 40 46 60 50 45 10 3 6 12 20 M M 12 16 4 4 25 0 55 1 15 R7G RGSF15B100 78 32 52 40 46 60 50 45 10 3 6 12 20 M4 5 12 16 4 4 25 0 70 1 5 R7G RGSF05B200 72 5 32 52 60 70 60 50 45 10 3 10 12 20 M5 M5 12 16 4 4 25 0 72 200W 1 9 R7G RGSFO9C400 89 5 50 78 60 70 90 70 6 amp 2 17 8 19 30 M5 M6 20 22 6 6 35 17 1 15 R7G RGSF15C400 100 50 78 60 70 90 70 62 17 3 8 19 30 M5 20 22 6 6 3 5 24 1 5 R7G RGSF05C400 89 5 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6 20 22 6 6 35 17 400 W 1 9 R7G RGSFO9C400 89 5 50 78 60 70 90 70 62 17 3 8 19 3 M M6 20 2 6 6 35 17 1 15 R7G RGSF15C400 100 50 78 60 70 90 70 62 17 8 19 3 M5 M6 20 22 6 6 3 5 21 Dimensions E3 me F ki ani Four Z2 Effective depth I 22 qi E 3 o gt e a C2 x C2 LM la LR i Key dimensio
2. R88M W 1 23 4 56789 3 4 5 6 7 8 Sees supply Shatt form H T None B None S1 52 53 50 W R88M W05030 O O O O O O O 100 W R88M W10030 200 W R88M W20030 400 W R88M W40030 750 W R88M W75030 O O O O O O 1 kW R88M W1K030 O O O O 1 5 kW R88M W1K530 O O O O O O O 2k W R88M W2K030 O 9 O O O O O O Cylin 3 kW R88M W3K030 der 450w R88M W45015 850W 1500 R88M W85015 13kw min R88M W1K315 1 8 kW R88M W1K815 300 W R88M W30010 600 W R88M W60010 O 900 W 1009 010 o o 1 2 kW R88M W1K210 2 kW R88M W2K010 100 W R88M WP10030 200 W R88M WP20030 O O O O O O O O O Flat 400 W R88M WP40030 750 W R88M WP75030 O O O O O O O O O O 1 5 kW R88M WP1K530 O O O O O Note Only absolute encoders be used with 1 500 r min Servomotors They can be u
3. 345 EAS ON 5 os os as A A OFF 2 Q o 1234 SW1 factory setting SW2 factory settings E e SW2 bit 3 SW1 Axis No SW2 bit 3 swi Axis No amp 0 Not valid 0 16 x 1 1 1 17 2 2 2 18 3 3 3 19 53 gt 4 4 4 20 gee 93 5 5 5 21 POS 6 6 6 22 7 7 7 23 OFF ON 8 8 8 24 as 25 9 9 9 25 BS A 10 A 26 Es oi B 11 B 27 8 C 12 C 28 D 13 D 29 g E 14 E 30 15 31 Cz OMNUC W OMNUC G Junior cc lt 7 SMARTSTEP Junior AC Servomotors and Servo Drives with Built in MECHATROLINK II Communications RZM Z R7D ZNLT ML2 E 16 Parameter omnon Function Selectio n Parameters from Pn000 Parameter name Description Function selection basic switches Reverse rotation Command filter setting See note Set when there is a problem such as overshooting Note The setting method is the same as with the command filter setting rotary Switch FIL Position Control Parameters from Pn200 Parameter name Description Electronic gear ratio G1 Numerator Sets the pulse rate for the command pulses and Electronic gear ratio G2 Denominator Speed Control Pa Parameter name Jog s
4. Model R88M ums G90010T G2K010T G3K010T G4K510T G6K010T Rated output 1 w 900 2000 3000 4500 6000 Rated torque 1 N m 8 62 19 1 28 4 42 9 57 2 Rated rotation speed r min 1000 Max momentary rotation speed r min 2000 Max momentary torque 1 N m 18 4 41 5 60 101 130 Rated current 1 A rms 7 6 18 5 24 33 47 Max momentary current 1 A rms 17 1 44 57 1 84 2 121 4 Rotor inertia kgm 1 12 x 103 3 55 x 103 5 57 x 103 8 09 x 103 9 9 x 103 GD 4 Applicable load inertia _ 10 times the rotor inertia Torque constant 1 N m A 1 13 1 1 1 1 3 1 22 Power rate 1 kW s 66 3 103 145 228 331 Mechanical time constant ms 0 88 0 97 0 74 0 7 0 65 Electrical time constant ms 20 25 30 31 46 2 Allowable radial load N 686 1176 1470 1470 1764 Allowable thrust load 3 N 196 490 490 490 588 Weight Without brake kg Approx 8 5 Approx 17 5 Approx 25 Approx 34 Approx 41 With brake kg Approx 10 Approx 21 Approx 28 5 Approx 39 5 Approx 45 shieididimensions 275 x 260 x t15 Al 470 x 440 x 30 Al Applicable Servo Drives R88D GN15H ML2 GN30H ML2 GN50H ML2 GN50H ML2 GN75H ML2 Brake inertia Gh 1 85 x 104 4 7 x 104 Excitation voltage 4 V 24 10 Power consumption at 20 w 19 31 34 34 34 Current consumption at 20 C A 0 79 1 3 1 4 1 4 1 4 2 Static friction torque N m 13 7 min
5. axes and add more in the future yo 2 laid out as desired g between the Controller Es FE E 5 us MECHATROLINK II Ze E 2 5 gt T ER d o 5 ae ns I I Concepts Front 1 E New Product Information Front 3 Motion Network Lineup Front 4 Controller Features Front 5 Position Control Units Front 5 g CX Motion NCF Front 7 CX Programmer Front 8 a Motion Control Units Front 9 x CX Motion MCH Front 11 o Servo System Features Front 13 OMNUC G Front 13 OMNUC W Front 15 Centralized Data Control SMARTSTEP Junior Front 16 CX Drive Front 17 age Motor Selection Program Front 18 poo Servomotors and Servo Drives Selection Guide Front 19 8 z 5 Position Control Unit A 1 Sag Motion Control Units B 1 OMNUC G series c 1 System Configuration 1 n Interpreting Model Numbers ps Ordering Information C 5 Servo Drive Servomotor Combinations C 15 Servomotor and Decelerator Combinations 16 58 Cable Combinations C 5 5 Servo Drive Specifications 21 Servomotor Specifications 24 L4 Decelerat
6. L KB2 These are the dimensions for the R88M WL1 S2 with key and tap Dimensions mm Flange dimensions Shaft end dimensions LL LR KB1 KB2 KL1 KL2 Model Di D2 D F Z S QK gt h t M I R88M W300100 S2 138 65 117 19 5 5 3 88 60010 52 161 58 88 140 109 88 130 145 1107 165 6 12 9 25 5 12 R88M W900100 S2 185 112 164 22h6 6 6 3 5 R88M W1K210L S2 166 89 144 0 0 01 R88M W2K0100 52 485 79 115 170 140 88 180 200 114 3 230 3 2 18 135 35 60 10 8 5 M12 25 1 000 r min Cylinder type Servomotors with a Brake e 200 V AC 300 W 600 W 900 W 1 2 kW 2 kW R88M W30010H BS2 W60010H BS2 W90010H BS2 W1K210H BS2 W2K010H BS2 R88M W30010T BS2 W6001 0T BS2 W90010T BS2 W1K210T BS2 W2K010T BS2 LL Dimensions of output section of Dimensions of shaft end with 300 W to 900 kW key BS2 M effective depth 1 30 dia e ak KL1 KL2 T KB2 These are the dimensions for the R88M WL BS2 with key and tap Dimensions Flange dimensions Shaft end dimensions Model Ge asi sua C D1 D2 D3 F G z s QK b h ti M 1 R88M W30010 BS2 176 56 154 R88M W60010 BS2 199 58 79 177 120 88 130 145 110h7 165 6 12 9 di 25 5 3 M5 12 R88M W9
7. Set bolt AT Four 22 dia C1x CI E j Four Z2 dia D s s s d r 7 o uos z d 7 OQ D IO 1 T Four Z1 dia CD gt _ F2 G LR LM C 65 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNLT ML2 omnon Dimensions mm Key dimensions Tap dimensions Model AT 1 b h M L 8 R88G HPG32A053K0B 1 5 8 R88G HPG32A112K0SB 1 11 8 R88G HPG32A211K0SB 1 21 1kW 9 R88G HPG50A332K0SB 1 33 9 R88G HPG50A451K0SB 1 45 18 40 82 11 M8x18 M6 70 12 8 5 0 M10 20 R88G HPG32A053K0B 1 5 13 40 82 11 M8x18 M6 70 12 8 5 0 M10 20 R88G HPG32A112K0SB 1 11 16 50 82 14 8 16 M6 70 14 9 5 5 M10 20 R88G HPG50A213K0B 1 21 b 16 50 82 14 M8x16 M6 70 14 9 5 5 M10 20 R88G HPG50A332K0SB 1 33 13 40 82 11 M8x18 M6 70 12 8 5 0 M10 20 R88G HPG32A053K0B 1 5 13 40 82 11 M8x18 M6 70 12 8 5 0 M10 20 R88G HPG32A112K0SB 1 11 16 50 82 14 M8x16 M6 70 14 9 5 5 M10 20 R88G HPG50A213K0B 1 21 9 16 50 82 14 8 16 M6 70 14 9 5 5 M10 20 R88G HPG50A332K0SB 1 33 13 40 82 11 M8x25 M6 70 12 8 5 0 M10 20 R88G HPG32A054K0B 1 5 16 50 82 14 M8x25 M6 70 14 9 5 5 M10 20 R88G HPG50A115K0B 1 11 16 50 82 14 M8x25 M6 70 14 9 5 5 M10 20 R88G HPG50A213K0SB 1 21
8. Me Oy E Ny ams 20000000060004 i i ED a dul 47 05 8 8 Mounting Holes G a L m SN gan I 3 150 5 o 58xos 6 eo no s fk NW DD ja 5 s SJ Se 5 SEA 150 139 5xo5 70 70 75 180 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WNL ML2 D 38 E tors and Controllers esas DH CX Drive Servo System Controller now Product infomation Concepts Position Control Units Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Motion Control Units OMNUC G SMARTSTEP Junior 200 V AC R88D WNO05H ML2 WNO8H ML2 WN10H ML2 500 W 750 W 1 kW 150 k JO mam NOI
9. h R88M G20030 4 30 70 50 60 6 5 4 5 43 R88M G40030 99 14 22 5 5h9 5 3 10 R88M G75030 112 2 35 19 90 70 80 8 6 53 22 6h9 6 3 5 R88M G20030L 116 11 18 4h9 4 M4 25 8 30 70 50 60 6 5 45 43 R88M G40030L 135 5 14 22 5 5h9 5 3 in R88M G75030L_ 149 2 35 19 90 70 80 8 6 53 22 6h9 6 3 5 The empty bax in the L H L T or S Note The standard models have a straight shaft A model with a key and tap is indicated by adding S2 to the end of the model number Brake connector Encoder Servomotor connector connector 6 fha Dimensions of shaft end 9 with key and tap 5 Four Z dia CxC z b gt g o E 1 T 4 is M a effective depth L C 55 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNL ML2 omnon 1 kW 1 5 kW 2 kW R88M G1K030T S2 Di f shaft end R88M G1K530T S2 ron Pkg RN exe R88M G2K030T S2 d I canon plug i G 3 Four Z dia R88M G1K030T B S2 TOR i 6h9 zi R88M G1K530T B S2 i eH at 3 R88M G2K030 B S2 pomum 5 lt M5 depth 12 Model LL D1 D2 C D3 G KL1 z R88M G1K030T 175 100 80 90 120 98 6 6 R8
10. Rated Rated Ratio Decelera Allowable Allowable m Not Model speed torque EE lary torque tor inertia radial load thrust load Mid SEA r min N m r min N m kg m N N kg kg 100W 1 5 R88M W10030L L G05CJ 600 1 19 75 1000 3 58 4 08 x 10 392 196 1 05 1 35 1 9 R88M W100300 LIG09CJ 333 2 29 80 556 6 88 3 43 x 10 441 220 1 05 1 35 1 15 R88M W10030L LIG15CJ 200 3 82 80 333 11 5 3 62 x 10 6 588 294 12 1 5 1 25 R88M W10030L L G25CJ 120 6 36 80 200 19 1 3 92 x 10 5 1323 661 2 2 2 5 200 W 1 5 R88M W200300 LIG05CJ 600 2 71 85 1000 8 12 1 53 x 10 5 392 196 1 82 2 32 1 9 R88M W20030L1 LIGO9CJ 333 3 78 66 556 11 3 2 68 x 10 5 931 465 2 8 3 3 1 15 R88M W20030C1 1G15CJ 200 6 31 66 333 18 9 2 71 x 10 5 1176 588 3 2 3 7 1 25 R88M W20030L 1G25CJ 120 114 70 200 33 4 2 67 x 10 5 1323 661 3 2 3 7 400 W 1 5 R88M W400300 LIG05CJ 600 5 40 85 1000 16 2 3 22 x 10 5 784 392 34 3 9 1 9 R88M W40030L L GO9CJ 333 9 49 83 556 28 5 2 68 x 10 5 931 465 3 4 3 9 1 15 R88M W40030C1 1G15CJ 200 15 8 83 333 47 6 2 71 x 10 5 1176 588 3 8 4 3 1 25 R88M W40030L1 1G25CJ 120 26 4 83 200 79 3 2 79 x 10 5 1617 808 4 9 54 750 W 1 5 R88M W75030L1 L1GOSCJ 600 10 8 90 1000 32 2 7 17 x 10 5 784 392 5 5 6 4 1 9 R88M W750300 OG09CJ 333 18 2 85 556 54 7 6 50 x 10 5 1176 588 6 8 7 7 1 15 R88M W75030C1 1G15CJ 200 30 4 85 333 91 2 7 09 x 10 5 1372 686 7 2 8 1 1 25 R88M W75030C1
11. i f j j Oc IO O 4 r 1 O O 7 7 O 21 O O 7 7 c rO O 1 n 1 O O nnan t t kalistu saa ptio ese otio sipassi Saa ak sri Juk rois i f i 0 spere cupo es Pe i te MY V E pe NS pe ee wp Ve og cipere pc i Pai EA SR MN E Mn cM wc a kata aku Z es F SSS Q MENOR i sanku nas ls S once INTE A Se eee Sree TE OE i i I NEW omron OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNL_ ML2 Saves Space and Enables MECHATROLINK II Communications with the Controller e Data
12. 50 W R88M G05030T R88M G05030T S2 100 W R88M G10030S R88M G10030S S2 200 W R88M G20030S R88M G20030S S2 400 W R88M G40030S R88M G40030S S2 50 W R88M G05030T R88M G05030T S2 100 W R88M G10030T R88M G10030T S2 200W R88M G20030T R88M G20030T S2 400 W R88M G40030T R88M G40030T S2 2 750 W R88M G75030T R88M G75030T S2 u 200 V 1kW R88M G1K030T R88M G1K030T S2 1 5 kW R88M G1K530T R88M G1K530T S2 2kW R88M G2K030T R88M G2K030T S2 3 kW R88M G3K030T R88M G3K030T S2 4 kW R88M G4K030T R88M G4K030T S2 5kW R88M G5K030T R88M G5K030T S2 50W R88M G05030T B R88M G05030T BS2 100 W R88M G10030S B R88M G10030S BS2 bor 200W R88M G20030S B R88M G20030S BS2 400 W R88M G40030S B R88M G40030S BS2 50 W R88M G05030T B R88M G05030T BS2 100 W R88M G10030T B R88M G10030T BS2 200 W R88M G20030T B R88M G20030T BS2 400 W R88M G40030T B R88M G40030T BS2 750 W R88M G75030T B R88M G75030T BS2 200 V 1 kw R88M G1K030T B R88M G1K030T BS2 1 5 kW R88M G1K530T B R88M G1K530T BS2 2kW R88M G2K030T B R88M G2K030T BS2 3 kW R88M G3K030T B R88M G3K030T BS2 4 kW R88M G4K030T B R88M G4K030T BS2 5kW R88M G5K030T B R88M G5K030T BS2 Note Models with oil seals are also available OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GN ML2 C 6 S tors and meee CX Drive Servo System Controller New Product Information Concepts Selection G
13. Key and Tap Dimensions QK M depth L C 61 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNLT ML2 omnon Dimensions mm 5 Key dimensions Tap dimensions Model G s T 71 22 AT b h 1 M 5 8 20 3 4 M4x9 M3 15 3 3 1 8 M3 6 R88G HPG11A05100B 1 5 5 8 20 3 4 M4x9 M3 15 3 3 1 8 M3 6 R88G HPG11A09050B 1 9 8 16 28 5 5 M4x10 M3 25 5 5 3 M4 8 R88G HPG14A21100B 1 21 50 W 8 16 28 5 5 M4x10 M3 25 5 5 3 M4 8 R88G HPG14A33050B 1 33 8 16 28 5 5 M4x10 M3 25 5 5 3 M4 8 R88G HPG14A45050B 1 45 5 8 20 3 4 4 10 M3 15 3 3 1 8 M3 6 R88G HPG11A05100B 1 5 8 16 28 5 5 M4x9 M3 25 5 5 3 M4 8 R88G HPG14A11100B 1 11 8 16 28 5 5 4 10 M3 25 5 5 3 M4 8 R88G HPG14A21100B 1 21 100 W 10 25 42 9 0 M4x10 M4 36 8 7 4 0 M6 12 R88G HPG20A33100B 1 33 10 25 42 9 0 M4x10 M4 36 8 7 4 0 M6 12 R88G HPG20A45100B 1 45 8 16 28 5 5 M4x10 M4 25 5 5 3 M4 8 R88G HPG14A05200B 1 5 8 16 28 5 5 M4x10 M4 25 5 5 3 M4 8 R88G HPG14A11200B 1
14. i paea I 45 OMRON LIU ee Ground terminals Two M4 screws 130 Mounting Hole Dimensions 5 5 screw holes Y i 139 5 0 5 Exterior 150 mounting pitch T 3 5 3210 5 8 5 mounting pitch 200 VAC 750 W R7D ZNO8H ML2 m eH h s 000 000000000000000 MEES 6 Mounting Hole Dimensions a9 4 gt 5 5 Three M4 screw holes ot n i 3 T 125 om d 139 540 Exterior T pitcl Je a SS D 6 58 05 6 180 5 mounting pitch Ground terminals Two M4 screws E 19 SMARTSTEP Junior AC Servomotors and Servo Drives with Built in MECHATROLINK II Communications RZM Z R7D ZNI ML2 omnon Decelerators For Cylinder type Motors Backlash 3 Arcminutes Max Dimensions mm Model Key dimensions Wella LM LR C1 C2 D1 D2 D3 4 F G S T 21 22 1 kg QK b h f 12 20 M4 M5 12 16 2 5 0 55 12 20 M
15. Symbol Name Connected to Model Description Cylindrical Servomotors R88A CAG 8 Servomotor Connector 3 000 r min 50 to 750 W The empty boxes in the model pM 60 Connector Flat Servomotors number are for the cable length 3 iud d LU ae r min 100 to 400 The cable can M 3 5 10 15 20 d 3 x M ed Electonics AM bi 30 40 or 50 m long Cylindrical Servomotors 3 000 r min 1 to 1 5 kw R8BA CAGB 1 1 IS Servomotor Connector MAE The empty boxes in the model 3 Straight plug Cylindrical Servomotors N MS3106B20 4S 2 000 r min 1 to 1 5 kW number are for the cable length 3 _ Japan Aviation Electronics Industry Ltd A r min 1 to 1 q 8 The cable can be 3 5 10 15 20 DSS 5 Cable clamp Oylindrical Servomotors lim N MS3057 12A 30 40 or 50 m long Japan Aviation Electronics Industry Ltd 1 000 r min 900 W T Servomotor Connector Standard Cylindrical Servomotors RB8A CAGCLI 15 70 L Straight plug Servomotor Power 3 000 r min 2 kW The empty boxes in the model 3 UMS TOROA Cables for number for the cable length Japan Aviation Electronics Industry Ltd Cylindrical Servomotors Cable clamp Servomotors without 2 000 r min 2 kW The cable can be 3 5 10 15 20 81 9 N MS3057 12A 30 40 or 50 m lo
16. Pin No Symbol Name Error detection 1 24VIN 12 to 24 VDC Power Supply Input Control power supply undervoltage 2 STOP Emergency Stop Input Overvoltage 3 EXT3 External Latch Signal 3 Undervoltage 4 EXT2 External Latch Signal 2 Overcurrent 5 EXT1 External Latch Signal 1 Overheating 6 IN1 External general purpose Input 1 Overload 7 PCL Forward Torque Limit Input Regeneration overload 8 NCL Reverse Torque Limit Input Encoder communications error 19 to20 POT Forward Drive Prohibit Input Encoder communications data error NOT Reverse Drive Prohibit Input Deviation counter overflow 21 DEC Origin Proximity Input Overspeed 22 INO External general purpose Input 0 Command error 23 IN2 External general purpose Input 2 Internal deviation counter overflow 34 BAT Overrun limit error 33 BATCOM Backup patery npu ABS Parameter error Forward and reverse rotation over travel input CN1 Control Output Signals Pin No Symbol Name 15 ALM Alarm Output 16 ALMCOM 29 OUTM2 General purpose Output 2 READY 30 OUTM2COM 31 OUTM3 General purpose Output 3 CLIM 32 OUTM3COM 36 OUTM1 General purpose Output 1 BKIR 35 OUTM1COM Encoder Connector Specifications CN2 Parameter corruption Drive prohibit input error Absolute encoder system down error Absolute encoder counter overflow error Absolute encoder overspeed error
17. Dimensions mm Model LM LR C1 c2 D1 D2 D3 D4 D5 E F1 F2 1 5 R88G HPG11A05100PB 39 5 42 40 60x60 46 70 40 0 39 5 29 27 2 2 15 1 11 R88G HPG14A11100PB 64 0 58 60 60x60 70 70 56 0 55 5 40 37 2 5 21 100 W 1 21 R88G HPG14A21100PB 64 0 58 60 60x60 70 70 56 0 55 5 40 37 2 5 21 1 33 R88G HPG20A33100PB 71 0 80 90 89 dia 105 70 85 0 84 0 59 53 7 5 27 1 45 R88G HPG20A45100PB 71 0 80 90 89 dia 105 70 85 0 84 0 59 53 7 5 27 1 5 R88G HPG14A05200PB 65 0 58 60 80x80 70 90 56 0 55 5 40 37 2 5 21 1 11 R88G HPG20A11200PB 78 0 80 90 80x80 105 90 85 0 84 0 59 53 7 5 27 200W 1 21 R88G HPG20A21200PB 78 0 80 90 80x80 105 90 85 0 84 0 59 53 7 5 27 1 33 R88G HPG20A33200PB 78 0 80 90 80x80 105 90 85 0 84 0 59 53 7 5 27 1 45 R88G HPG20A45200PB 78 0 80 90 80x80 105 90 85 0 84 0 59 53 7 5 27 1 5 R88G HPG20A05400PB 78 0 80 90 80x80 105 90 85 0 84 0 59 53 75 27 1 41 R88G HPG20A11400PB 78 0 80 90 80x80 105 90 85 0 84 0 59 53 7 5 27 400W 1 21 R88G HPG20A21400PB 78 0 80 90 80x80 105 90 85 0 84 0 59 53 7 5 27 1 33 R88G HPG32A33400PB 104 0 133 120 122 dia 135 90 115 0 114 0 84 98 12 5 35 1 45 R88G HPG32A45400PB 104 0 133 120 122 dia 135 90 115 0 114 0 84 98 12 5 35 Note 1 The standard models have a straight shaft A model with a key and tap is indicated by adding J to the end of the model number C1 E Set bolt AT Four Z2 dia D3 dia
18. Servomotor Voltage Servo Drive Rated output With incremental encoder With absolute encoder R88D GNASL ML2 50W R88M G05030H 1 R88M GO05030T 10057 R88D GNO1L ML2 100 W R88M G10030L R88M G100308 1 R88D GNO2L ML2 200W R88M G20030L R88M G200308 1 R88D GNO4L ML2 400W R88M G40030L R88M G400308 1 R88D GNO1H ML2 50W R88M G05030H 1 R88M GO05030T 1 R88D GNO1H ML2 100W R88M G10030H L1 R88M G10030T 1 Single phase 200 V R88D GNO2H ML2 200W R88M G20030H L1 R88M G20030T 1 R88D GNO4H ML2 400W R88M G40030H L1 R88M G40030T L1 R88D GNO8H ML2 750 W R88M G75030H L R88M G75030T 1 Single phase three phase 200 V R88D GN15H ML2 1 kW _ R88M G1K030T L R88D GN15H ML2 1 5 kW R88M G1K530T L R88D GN20H ML2 2 kW R88M G2K030T L R88D GN30H ML2 3 kW R88M G3KO030T L1 Three phase 200 V R88D GN50H ML2 4kw R88M G4K030T L R88D GN50H ML2 5 kW R88M G5K030T 1 3 000 r min Flat Servomotors and Servo Drives Voltage Servo Drive Servomotor Rated output With absolute encoder Single phase R88D GN10H ML2 1kW R88M G1K020T 7 three phase 200 V R88D GN15H ML2 1 5 kW R88M G1K520T 1 R88D GN20H ML2 2 kW R88M G2K020T 11 R88D GN30H ML2 3kW R88M G3K020T 1 Three phase 200 V R88D GN50H ML2 4kW R88M G4K020T L R88D GN50H ML2 5kW R88M G5K020T 1 R88D GN75H ML2 7 5 kW R88M G7K515T L 1 000 r min Sylindrica
19. Flat Servomotors 3 000 r min 100 to 400 W incremental encoder Encoder Cables with Connectors number are for the cable length The cable can be 3 5 10 15 20 30 40 or 50 m long 3 000 r min 50 to 750 W The empty boxes in the model eo L E Connector Flat Servomotors number are for the cable length 3 21574 Electronics 3 000 100 400 The cable be 3 5 10 15 20 C 170362 1 Tyco Electronics AMP KK Standard Brake w 30 40 or 50 m long err 170366 1 Tyco Electronics AMP KK Cables y Cylindrical Servomotors RBA CAGE B 70 L T 1 500 r min 7 5 kW The empty boxes i ho model N MS3106B14 2S Cylindrical Servomotors Led are m p Aviation Electronics Industry Ltd 1 000 r min 6 kW 30 40 or 50 m lont AM Lc B ka Japan Aviation Electronics Industry Ltd Cylindrical Servomotors R88A CAGAI BR Servomotor Connector 3 000 r min 50 to 750 W The empty boxes in the model 60 Connector Robot Brake Cables Flat Servomotors number are for the cable length E Bed Eleetionios AMP 3 000 r min 100 to 400 The cable can be 3 5 10 15 20 170362 1 Tyco Electronics AMP KK w 30 40 or 50 m long oS 170366 1 Tyco Electronics AMP KK Encoder Cables for CN2 Symbol Name Connected to Model Description Cylindrical Servomotors Servo Drive Connector Ser
20. Dimensions mm Model LM LR C1 c2 D1 D2 D3 D4 D5 E F1 F2 1 5 R88G HPG32A05900TB 129 133 120 130x130 135 145 115 114 84 98 12 5 35 1 11 R88G HPG32A11900TB 129 133 120 130x130 135 145 115 114 84 98 12 5 35 ee 1 21 R88G HPG50A21900TB 149 156 170 130x130 190 145 165 163 122 103 12 0 53 1 33 R88G HPG50A33900TB 149 156 170 130x130 190 145 165 163 122 103 12 0 53 1 5 R88G HPG32A052K0TB 129 133 120 180x180 135 200 115 114 84 98 12 5 35 1 11 R88G HPG50A112K0TB 149 156 170 180x180 190 200 165 163 122 103 12 0 53 iid 1 21 R88G HPG50A212K0TB 149 156 170 180x180 190 200 165 163 122 103 12 0 53 1 25 R88G HPG65A255K0SB 231 222 230 180x180 260 200 220 214 168 165 12 0 57 1 5 R88G HPG50A055K0SB 149 156 170 180x180 190 200 165 163 122 103 12 0 53 1 11 R88G HPG50A115KO0SB 149 156 170 180x180 190 200 165 163 122 1038 12 0 53 dd 1 20 R88G HPG65A205K0SB 231 222 230 180x180 260 200 220 214 168 165 12 0 57 1 25 R88G HPG65A255K0SB 231 222 230 180x180 260 200 220 214 168 165 12 0 57 1 5 R88G HPG50A054K5TB 149 156 170 180x180 190 200 165 163 122 103 12 0 53 4 5 kW 142 R88G HPG65A127K5SB 254 5 222 230 180x180 260 200 220 214 168 165 12 0 57 1 20 R88G HPG65A204K5TB 254 5 222 230 180x180 260 200 220 214 168 165 12 0 57 1 5 R88G HPG65A057K5SB 184 5 222 230 180x180 260 200 220 214 168 165 12 0 57 112 R88G HPG65A127K5SB 254 5 222 230 180x180 260 200 220 214 168 165 12 0 57 Note The standard models have a straight shaft with a key A
21. M8 depth 20 145 dia Concepts New Product Information Motion Network Lineup Controller Features Servo System Features CX Drive Motor Selection Program Servomotors and Servo Drives Selection Guide Controllers Position Control Units Controllers Motion Control Units OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GN ML2 C 56 OMNUC W SMARTSTEP Junior omnon 3 000 r min Flat Servomotors e 100 W 200 W 400 W R88M GP10030L S2 R88M GP20030L S2 R88M GP40030L S2 R88M GP10030H S2 R88M GP20030H S2 R88M GP40030H S2 R88M GP10030L B S2 R88M GP20030L B S2 R88M GP40030L B S2 R88M GP10030H B S2 R88M GP20030H B S2 R88M GP40030H B S2 Model ABS R88M GP10030S S2 R88M GP20030S S2 R88M GP40030S S2 R88M GP10030T S2 R88M GP20030T S2 R88M GP40030T S2 R88M GP10030S B S2 R88M GP20030S B S2 R88M GP40030S B S2 R88M GP10030T B S2 R88M GP20030T B S2 R88M GP40030T B S2 R88M GP10030L R88M GP10030H R88M GP10030S R88M GP10030T R88M GP20030L R88M GP20030H R88M GP20030S R88M GP20030T R88M GP40030L R88M GP40030H R88M GP40030S R88M GP40030T R88M GP10030L B R88M GP10030H B R88M GP10030S B R88M GP10030T B R88M GP20030L B R88M GP20030H B 100 R88M GP20030S B R88M GP2003
22. Servomotors with Decelerator Decelerators See note 1 The following symbols are used in the tables Mot Capacity Economy Blank Without brake otor range Standard Backlash Standard B With brake Backlash x Backlash E Approx m 3 min max 3 Blank Straight shaft 45 min J With key 50 W to H 200 VAC with incremental encoder 3000 r min 750W 9 200 VAC with absolute encoder Cylinder type Servomotors 1 kW to 3 kW 1500 r min Cylinder type 450 to 1 8 kW Servomotors 1000 r min Oylinder type 300 W to 2 kW Servomotors 100 W to P Flat type 750W Servomotors 1 5 kW Note 1 The task of combining the Decelerator and Servomotor is performed by the user 2 A circle indicates that the combination is possible A blank indicates that it is not possible E 3000 r min Cylinder type Servomotors H 3000 r min Cylinder type Servomotors 50 W to 750 W 1 kW to 3 kW Decelerator Gear ratio Decelerator Gear ratio Motor CERES Model 15 1 9 111 21 1 33 1 9 1 20 1 29 ity DG05 DG09 DG11 DG21 DG09 DG20 1G29 BA BA BA BA BA BJ BJ BJ W Ha 1kW pean K030 5 w 888 410030 m S S S 1 kw R88M W1k530 D m 5 m 200 W FOOD 2 kW s RUSO o w RS8M W40030 S S S S kw R88M W
23. Note 1 A circle indicates that the combination is possible A blank indicates that it is not possible 2 The Decelerator shaft has a key 3 Only absolute encoders can be used with these Servomotors They can be used as incremental encoders AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WNL ML2 Note 1 A circle indicates that the combination is possible A blank indicates that it is not possible 2 The Decelerator shaft has a key D 12 S tors and Controllers DERE EUR CX Drive Servo System Controller new Product infomation Concepts Position Control Units Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Motion Control Units OMNUC G SMARTSTEP Junior Cable Combinations Note Encoder Cable combination Absolute encoder 2 3 3 When the battery is connected to the control connector 1 2 See note OMNUC W series Servomotor OMNUC W series Servo Drive _ T LLA I 3 is not required Incremental encoder 2 Power Cables omnon Motiom Control Unit Computer Monitor Software for Windows 6 3 See note Y Connector Terminal
24. OH Bs Origin proximity 1 ity d Brake interlock output 24 VDC input DEC 2 33 ST AMAL 7 gt s H L pa c 0 GND ES mee s Reverse drive 1 wa os inhibit input Nora APSA 7s gt m Frame ground Forward drive uvis Connect the shield to the connector shell inhibit input 4 33k kQ bi r et 2 2 Emergency stop a Be input STOP 6 3 3 E o User S control gt device MECHATROLINK II cable Junior W cc lt SMARTSTEP Junior AC Servomotors and Servo Drives with Built in MECHATROLINK II Communications RZM Z R7D ZNLT ML2 E 12 I O Circuit Diagrams omnon E R7A CNZO1P Main Circuit and Servomotor Connector Specifications CNA Main Circuit Connector 04JFAT SBXGF N JST Mfg Co Ltd 011910 e 2 CNA Connector Main Circuit Connector CNA Pin Arrangement Signal No Signal Name Function 1 1 Main circuits power supply N Single phase 200 230 V AC 170 to 253 V AC 50 60 Hz 2 12 3 i i Exe Regeneration Unit If regenerative energy is high connect an External Regeneration Unit 4 ES connection terminals Frame ground This is the ground terminal Ground to a minimum of 100
25. omnon Dimensions of shaft end with key S1 These are the dimensions for the R88M WL QK S1 with key Dimensions mm Flange dimensions Shaft end dimensions LL LR Model c D1 D2 F G 2 s QK b h t1 R88M W05030L S1 77 Two 66 2 2 1 2 25 40 46 307 2 5 5 i 14 R88M W10030L S1 94 5 4 3 dia ghe 3 3 1 8 3 000 r min Cylinder type Servomotors with a Brake 200 V AC 50 W 100 W R88M W05030H B S1 W10030H B S1 R88M W05030T B S1 W10030T B S1 300 30 7 dia LL lo Dimensions of shaft end with key BS1 h 2 D u BS1 with key Dimensions mm ii LF Flange dimensions Shaft end dimensions Model c D1 D2 F G 2 s QK b h ti R88M WO05030 B S1 108 5 Two 6h6 2 2 1 2 25 40 46 307 2 5 5 14 R88M W10030C B S1 135 43dia 3 3 18 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WNL ML2 D 40 s tors and Controllers DERE EUR CX Drive Servo System Controller now P
26. CS1W MCH71 UNIT LELE 128 SITIS GURON Corporation Slol P o W e 35 100 5 104 Related Manual English Cat No Japanese Cat No Type Name CS1W MCH71 CJ1W MCH71 MAS SBCE 327 GSIW MCHZUGJIW MCHZI CS CJ series MECHATROLINK II compatible Motion Controll Unit User s Manual CX Motion NCH W448 SBCE 336 CXONE ALCICIC D V3 Operation Manual CS1W MCH71 CJ1W MCH71 SBCE 046 CSIW MCH71 CJ1W MCH71 Motion Controll Unit ONNUC W series Technical Guide B 7 SYSMAC CJ CS series MECHATROLINK II compatible Motion Control Units CJ1W MCH71 CS1W MCH71 1 a AR NS ats peda pe RIS deron CER aom genes ahoeneq os eg gt ER 1 0 I pc
27. 150 139 5xo5 Mounting Holes 5 5 4 6 58405 70 omnon 200 V AC R88D WN15H ML2 1 5 kW 150 d 5005000000000 Pin m nim n n n n m n m n m 00000000000 IAN CL AA EIE cc 008 90 1000 Mounting Holes E 150 139 5xo5 5 5J 80 5 180 of i elle reel e gt Q EI 100 OU 180 Mounting Holes 180 170 0 5 5 100 5 90 0 5 Ie SSP D 39 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WNL ML2 AC Servomotors 3 000 r min Cylinder type Servomotors without a Brake e 200 V AC 50 W 100 W R88M W05030H S1 W10030H S1 R88M W05030T S1 W10030T S1 300 30 gt 300 30 al
28. r 3 Shaft end Dimensions mm Flange dimensions LL LR KB1 KB2 KL1 KL2 dimensions Model D1 D2 D3 F G z s QK R88M W1K030L1 S2 149 76 128 R88M W1K530 1 S2 175 45 102 154 96 88 100 115 95 130 3 10 7 24h6 32 R88M W2K030 7 S2 198 125 177 R88M W3K030L1 S2 199 63 124 178 114 88 130 145 110 165 6 12 9 28h6 50 3 000 r min Cylinder type Servomotors with a Brake e 200 V AC 1 kW 1 5 kW 2 kW 3 kW R88M W1K030H BS2 W1K530H BS2 W2K030H BS2 W3K030H BS2 R88M W1K030T BS2 W1K530T BS2 W2K030T BS2 W3K030T BS2 KL1 KL2 These are the dimensions for the R88M W Four Z dia Dimensions of shaft end with key BS2 QK 8 effective depth 16 BS2 with key and tap 3 Shaft end Dimensions mm Flange dimensions LL LR 1 KB2 KL2 dimensions Model D1 D2 D3 F G z s QK R88M W1K0300 193 67 171 R88M W1K5300 219 45 93 197 102 88 100 115 957 130 3 10 7 246 32 R88M W2K0300 242 116 220 R88M W3K0300 237 63 114 216 119 88 130 145 1107 165 6 12 9 286 50 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WNL ML2 D 42 S tors and d
29. can be reestablished a stopped for faulty axis only BIB Ng gt x Connection established Be il a a a a uu x Error occurs Power interruption or communications failure Position Control Units Concepts New Product Information Motion Network Lineup Features x S 2 x El o SMARTSTEP Controllers Controllers S9 vemotors and m Servo System Junior buds ee OMNUC G onon Control Units Position Control Units CMS Features m o 5 T Easy Parameter Management while Connected to the PLC gt Motion NEF CX Motion NCF Support Software Version Ver 1 8 CJ1W CS1W NC271 NC471 are supported Ver 1 8 CJ2 CPU Unit are supported Ver 1 6 OMNUC G Series are supported Ver 1 6 Easily set and monitor parameters of the Unit and the connected Servo Drives Also check Servo Drive operation and set up absolute encoders A variety of functions provides total support for the system Functions without Changing the Connection Editing parameters Add Position Control Units and Servo Drives to projects The parameters can easily be edited O Transferring and verifying parameters Parameters for Position Control Units and connected Servo Drives can be transferred The parameters can be verified and parameters that are different can be checked O Setup of absolute value encoder The abso
30. l i i i i r r o O c 1 4 1 7 nnne i kas aha Taku aaa a G gt amp es kaka ae ey ST kuu a goes eS quee j i 0 i C W O O O O a a SU O ee U MEL XEM ee 55 1 i i Pec pL MS EM i i O c IO c 4 c t 1 O O O 1 421 O IO O O O 1 1 O O 37 c r lt 7 C IO O C 4 7 A i i i de rp er pore 1
31. Decelerators Peripheral Devices R88A CRGDOR3C BS NEW r 3 Arcminutes Max e Reactors ms cu Backlash 15 Arcminutes Max SEDE R88G VRSF 3G3AX AL c e External Regeneration Resistors Not required if a battery is connected to the R88A RR control connector CN1 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNI ML2 C 2 Servomotors and CX Drive Servo System Controller New Product information Avalon a Motor Selection Program Features Features Motion Network Lineup Concepts Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior omnon Interpreting Model Numbers Servo Drive Model Numbers The model number provides information such as the Servo Drive type the applicable Servomotor capacity and the power supply voltage R88D GNO1H ML2 OMNUC G series Servo Drive Drive Type N Network type Applicable Servomotor Capacity 5 50 W 01 100 W 02 200 W 04 400 W 08 750 W 10 1 kW 15 1 5 kW 20 2kW 30 3 kW Power Supply Voltage 50 5 kW L 100 VAC 75 7 5 kW H 200 VAC Network type ML2 MECHATROLINK II Communications Servomotor Model Numbers R88M GP 10030H BOS2 G series Servomotor Motor Type Blank Oylinder type P Flat type Servomotor Capacity 050 50W 100 100W 200 200W 400 4
32. Four Z1 dia C 63 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNLT ML2 omnon Dimensions mm Key dimensions Tap dimensions Model G S T 21 Z2 AT b h t M L 5 8 20 3 4 M4x9 M3 15 3 3 1 8 M3 6 R88G HPG11A05100PB 1 5 8 16 28 5 5 M4x10 M3 25 5 5 3 0 M4 8 R88G HPG14A11100PB 1 11 8 16 28 5 5 4 10 M3 25 5 5 3 0 M4 8 R88G HPG14A21100PB 1 21 100 W 10 25 42 9 0 M4x10 M3 36 8 7 4 0 M6 12 R88G HPG20A33100PB 1 33 10 25 42 9 0 M4x10 M3 36 8 7 4 0 M6 12 R88G HPG20A45100PB 1 45 8 16 28 5 5 M5x12 M4 25 5 5 3 0 M4 8 R88G HPG14A05200PB 1 5 10 25 42 9 0 M5x12 M4 36 8 7 4 0 M6 12 R88G HPG20A11200PB 1 11 10 25 42 9 0 5 12 4 36 8 7 4 0 M6 12 R88G HPG20A21200PB 1 21 200 W 10 25 42 9 0 M5x12 M4 36 8 7 4 0 M6 12 R88G HPG20A33200PB 1 33 10 25 42 9 0 M5x12 M4 36 8 7 4 0 M6 12 R88G HPG20A45200PB 1 45 10 25 42 9 0 M5x12 M4 36 8 7 4 0 M6 12 R88G HPG20A05400PB 1 5 10 25 42 9 0 M5x12 M4 36 8 7 4 0 M6 12 R88G HPG20A11400PB 1 11 10 25 42 9 0 5 12 4 36 8 7 4 0 M6 12 R88G HPG20A21400PB 1 21 400 W 13 40 82 11 0 M5x12 M6 70 12 8 5 0 M10 20 R88G HPG32A33400PB 1 33 13 40 82 11 0 M5x12 M6 70 12 8 5 0 M10 20 R88G HPG32A45400PB 1 45 1 This is the set bolt Key and Tap Dimensions QK OMNUC G
33. i i t es der macte Ste d aeg ae SA ater iis cls u a PAS oe Sf aaa rore By eve ACH rk ety ee Eee c CE aS ra aq a t f 1 t 1 i tp PAS b pi Te artis p Aa Ses Shang aS P nspa ami e SA i i i i 0 weis rif Esa CY SSS Ca SRT Sie VSQVE Z ui V PRS Ean bg T ed GCP EN N T Ls onca rb aac Sy ha ER T Nee E oak Ned otot kush E E Z Rea S A Ds CREE T A Sas b 1 Fee Pi ens us g t S s alin Se ae i eee ES meg e S Sy aS hn SSS Nee Sth Same EUR SS Se eg omnon SMARTSTEP Junior AC Servomo
34. F Note When using a W series Servomotor with built in MECHATROLINK II communications use a 200 VAC Servomotor regardless of whether the Servo Drive is 200 VAC or 100 VAC General Specifications Flat type Servomotors Item Ambient operating temperature Type 3 000 r min Flat type Servomotors 0 to 40 C Ambient operating humidity 20 to 80 with no condensation Ambient storage temperature 20 to 60 C Ambient storage humidity 20 to 80 with no condensation Storage and operating atmosphere No corrosive gases Vibration resistance 10 to 2 500 Hz in X Y and Z directions with acceleration 49 m s max Shock resistance Acceleration 490 m s max in X Y and Z directions two times Insulation resistance Between power line terminals and FG 10 MQ min at 500 V DC Dielectric strength Between power line terminals and FG 1 500 V AC for 1 min at 50 60 Hz Run position All directions Insulation grade Type B Structure Totally enclosed self cooling Degree of protection IP 55 Excluding through shaft portion Vibration grade V 15 Mounting method Flange mounting EC EMC Directive EN55011 class A group 1 aie EN61000 6 2 Interna nee tional tives Low voltage IEC60034 8 Directive IEC60034 8 EN60034 1 5 9 standards UL standards UL1004 cUL standards cUL C22 2 No 100
35. Rotary Switch for Setting Command Filter FIL This switch does not need to be set if the machine is not subject to vibration It can be set as a troubleshooting method if overshooting or other problems occur The switch is factory set to 0 Approx time from end of Acceleration deceleration Filter setting command to end of Beh time for STEP command BERGE ern Description See note 1 positioning settling time See note 2 See note 3 0 45 ms 100 to 200 ms Smaller filter time 1 50 ms 110 to 220 ms constant short positioning time 2 60 ms 130 to 260 ms 3 65 ms 150 to 300 ms 4 70 ms 170 to 340 ms 5 80 ms 200 to 400 ms Larger filter time constant longer 6 85 ms 250 to 500 ms positioning time 7 170 ms 500 to 1000 ms with little vibration 8to F Do not set this switch to 8 to F Note 1 Increase the value of the filter setting if there is vibration when starting or stopping 2 Use the acceleration deceleration times as a guideline for determining the Servomotor capacity that can be driven when using STEP commands without commanded acceleration deceleration 3 The settling time depends on the commanded acceleration deceleration the rigidity of the machine motor drive the encoder resolution and other factors E 15 SMARTSTEP Junior AC Servomotors and Servo Drives with Built in MECHATROLINK II Communications R7M Z R7D ZN ML2 omnon D
36. consisting of the phase and deviation MR ge z E Control Graphs LIE 5 2 You can simultaneously display and confirm speeds accelerations and movements for the cam curve data you create was T hmi E o Il Twenty four Types of Characteristic Curve Data Cam curves can be easily created for up to 24 different types of at characteristic curve data Gs F E Comparisons pe You can display and compare more than one cam curve Ac Front 12 Complete Reinforcement of Functions and Performance Demanded in Servo Systems NEW Built in MECHATROLINK II OMNUC G Series mn Wider Range of Compact Servomotors and Servo Drives with Increased Machine Compatibility Plus Fast Positioning with Improved Response and Vibration Control Reduce mechanical vibration with the vibration control function Stop position cios position Y By removing the vibration frequency components between the stop position and the 0 lt Travel Travel intermediate position vibration that occurs due low mechanical rigidity can be suppressed Vibration s No vibration Control for two vibration Stop position frequencies _ z lt Travel Z Z No vibration wide range of Servomotors is available to meet application needs You can select a suitable Servom
37. C 13 ML2 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GN omnon e External Regeneration Resistors e Mounting Brackets L Brackets for Rack Mounting Specifications 20 W 50 Q Model R88A RR08050S 20 W 100 Q R88A RR080100S 70 W 47 Q R88A RR22047S 500 W 20 Q R88A RR50020S NEW e Reactors Specifications R88D GNASL ML2 GNO1H ML2 Model 3G3AX DL2002 R88D GNO1L ML2 GNO2H ML2 3G3AX DL2004 R88D GNO2L ML2 GNO4H ML2 3G3AX DL2007 R88D GNO4L ML2 GNO8H ML2 GT10H ML2 3G3AX DL2015 R88D GN15H ML2 3G3AX DL2022 R88D GNO8H ML2 GN10H ML2 GN15H ML2 3G3AX AL2025 R88D GN20H ML2 GN30H ML2 3G3AX AL2055 R88D GN50H ML2 3G3AX AL2110 R88D GN75H ML2 3G3AX AL2220 Specifications Model R88D GNAS5L ML2 GNO1L ML2 GNO01H ML2 GN02H ML2 R88A TK01G R88D GN02L ML2 GN04H ML2 R88A TK02G R88D GN04L ML2 GN08H ML2 R88A TK03G R88D GN10H ML2 GN15H ML2 R88A TK04G Parameter Unit Specifications Model Parameter Unit R88A PR02G MECHATROLINK related Devices and Cables Manufactured by Yaskawa Corporation Name OMRON model number Yaskawa model number MECHATROLINK II Cables with ring core and USB connector on both ends Cable Length 0 5 m FNY W6003 A5 JEPMC W6003 A5 Cable Length 1 0 m
38. C 37 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNLT ML2 omnon Backlash 15 Arcminutes Max Decelerators for 3 000 r min Servomotors Efficiency DSL TERT po sce ipie Weight odel speed rotation speed torque load load r min Nm r min N m kg m N N kg 1 5 R88G VRSF05B100CJ 600 0 52 65 1000 1 46 4 00 x 10 6 392 196 0 55 1 9 R88G VRSF09B100CJ 333 0 93 65 556 2 63 3 50 x 10 441 220 0 55 did 1 15 R88G VRSF15B100CJ 200 1 67 70 333 4 73 3 50 x 106 588 294 0 70 1 25 R88G VRSF25B100CJ 120 2 78 70 200 7 88 3 25 x 10 686 343 0 70 1 5 R88G VRSF05B100CJ 600 1 19 75 1000 3 38 4 00 x 106 392 196 0 55 1 9 R88G VRSF09B100CJ 333 2 29 80 556 6 48 3 50 x 10 6 441 220 0 55 1 15 R88G VRSF15B100CJ 200 3 81 80 333 10 8 3 50 x 106 588 294 0 70 1 25 R88G VRSF25B100CJ 120 6 36 80 200 18 0 3 25 x 10 6 686 343 0 70 1 5 R88G VRSF05B200CJ 600 2 70 85 1000 7 57 1 18 x 105 392 196 0 72 1 9 R88G VRSF09C200CJ 333 3 77 66 556 10 6 2 75 x 105 931 465 1 70 1 15 R88G VRSF15C200CJ 200 6 29 66 333 17 6 3 00 x 10 5 1176 588 2 10 1 25 R88G VRSF25C200CJ 120 11 1 70 200 31 2 2 88 x 105 1323 661 2 10 1 5 R88G VRSF05C400CJ 600 5 40 85 1000 15 6 15 3 3 63 x 105 784 392 1 70 1 9 R88G VRSF09C400CJ 333 9 50 838 556 27 4 2
39. MECHATROLINK related Devices and Cables Manufactured by Yaskawa Corporation Name OMRON model number Yaskawa model number 0 5m FNY W6003 A5 JEPMC W6003 A5 1 0m FNY W6003 01 JEPMC W6003 01 3 0m FNY W6003 03 JEPMC W6003 03 hes USD Pana on both ends Som FN YW6009 05 JEPMG W6003 05 10 0 FNY W6003 10 JEPMC W6003 10 20 0m FNY W6003 20 JEPMC W6003 20 30 0 m FNY W6003 30 JEPMC W6003 30 MECHATROLINK II Terminating Resistor Terminating resistance FNY W6022 JEPMC W6022 MECHATROLINK II Repeater Communications Repeater FNY REP2000 JEPMC REP2000 Note MECHATROLINK related Devices and Cables are manufactured by Yaskawa Corporation but they can be ordered directly from OMRON using the OMRON be delivered even when they are ordered from OMRON model numbers Yaskawa brand products wil E 5 SMARTSTEP Junior AC Servomotors and Servo Drives with Built in MECHATROLINK II Communications R7 M Z R7D ZNLT ML2 Cable Combinations omnon SMARTSTEP Servomotor 3 pe Main Circuit Connector CNA Main Circuit Connector Connected to R7D ZN Connector SMARTSTEP Junior Servo Driver omnon R7D ZNO1H ML2 DRIVER 100W e ALM RDY 1 Model number R7A CNZO1P Position Control Unit Connector Terminal B
40. T T T T 1 r min 1000 2000 3000 4000 5000 R88M W40030H T 400 W N m 4 04 3 04 3 82 3 82 Repeated usage 1 04 2 04 0 24 0 44 0 159 0 159 0 318 0 318 0 637 0 637 1 27 1 35 0 1 02 957 1 0 7 AS 0 09 2 i 0 19 0 39 0 76 Continuous usage Continuous usage Continuous usage Continuous usage T T T r min T T T T r min T T T T r min 0 T T T T 1 r min 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 500 D 19 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WNL ML2 AC Servomotor Specifications R88M W Performance Specifications 1 500 r min Cylinder type Servomotors omnon General Specifications 1 500 r min Cylinder type Servomotors Torque and Rotation Speed Characteristics 1 500 r min Cylinder type Servomotors with a 200 VAC Servo Drive The following graphs show the characteristics with a 3 m standard cable and 200 V AC input R88M W1K315T 1 3 kW R88M W45015T 450 W Nm 104 8 92 8 40 8 2190 Repeated usage Continuous usage AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W
41. The operable load inertia ratio load inertia rotor inertia depends on the mechanical configuration and its rigidity For a machine with high rigidity operation is possible even with high load inertia Select an appropriate motor and confirm that operation is possible If the dynamic brake is activated frequently with high load inertia the dynamic brake resistor may burn Do not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled The allowable radial and thrust loads are the values determined for a service life of 20 000 hours at normal operating temperatures The allowable radial loads are applied as shown in the following diagram uda load M Thrust load Center of shaft LR 2 This is an OFF brake It is reset when excitation voltage is applied The operation time is the value reference value measured with a surge suppressor CR50500 manufactured by Okaya Electric Industries Co Ltd C 31 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNLT ML2 Torque and Rotation Speed Characteristics omnon 2 000 r min Cylindrical Servomotors e 2 000 r min Servomotors with 200 VAC Power Input The following graphs show the characteristics with a 3 m standard cable and a 200 VAC input R88M G1K020T 1 kW N m 15 113 5 13 5 2200 10 Repetitive usage 4 8 Continuous usage 0 1000 2000 3000 r
42. Electronics Industry Ltd 1 000 r min 2 to 4 5 kW 40 9 e Japan Aviation Electronics Industry Ltd Cylindrical Servomotors R88A CAGA SR 50 so Servomotor Connector 3 000 r min 50 to 750 W The empty boxes in the model 60 L 50 Connector Flat Servomotors number are for the cable length 2 Ms Eledtronios AMP 3 000 r min 100 to 400 The cable can be 3 5 10 15 20 2 TEK J 170362 1 Tyco Electronics AMP KK w 30 40 50 long om 170366 1 Tyco Electronics AMP KK Cy indrical Servomotors R88A CAGB SR S ivomdiar Ganheat q 3 000 r min 1 to 1 5 KW The empty boxes in the model Straight plug Cylindrical Servomotors number are for the cable length lapan Aviation El Industry Ltd 2 000 r min 1 to 1 5 kW 8 lectronics Industry Ltd Cylindrical Servomotors 1 000 r min 900 W The cable can be 3 5 10 15 20 30 40 or 50 m long x r3x3 e 3 dia 37 N MS3057 12A Japan Aviation Electronics Industry Ltd Cylindrical Servomotors 3 000 r min 2 kW Cylindrical Servomotors 2 000 r min 2 kW R88A CAGC SR The empty boxes in the model number are for the cable length The cable can be 3 5 10 15 20 30 40 or 50 m long L 37 3 dia Servomotor Connector Straight plug N MS3106B20 4S Japan Aviation Electronics Industry Ltd Cable clamp N MS3057 12A Japan Aviation Electroni
43. Feedback pulse from Graal Operation of multiple other axes synchronized with Moti Special BASIC like programming Control performed by setting Network with high speed x es manual pulse input or E encoder mounted to the main axis The encoder is guon language for the MCH a position and speed data servo communications WS encoder a sensor that detects the displacement of the main axis anguage designed for motor control 1 143 directly from a ladder diagram T s ira Easily Achieve a Wide Range of Control A Position Control Unit for Up to 2 4 16 Axes of From machine design to future expansion all stages are simple and easy SYSMAC CS CJ Series Supports Position Control Units OMNUC G series T MECHATROLINK II OMNUC W series CS1W NCF71 CJ1W NCF71 SMARTSTEP Junior EE CS1W NC471 EET CJ1W NC471 CS1W NC271 EE CJ1W NC271 CJ1W NCF71 MA Positioning programs ladder diagrams Position control Linear interpolation Ladder diagrams direct operation Absolute encoders supported Speed control Present value preset 2 4 16 Axes Baud rate of 10 Mbps Torque control lll System Configuration Example Programmable Terminals NS series RS 232C Communications Using the CX Motion NCF allows all parameters NT Link including Servo Drive parameters to be transferred at one time Programmable Controller SYSMAC CS CJ series P
44. Unit No Display 2 Digits Displays the parameter type servo 16 bit or 32 bit In Parameter Setting Mode displays the 2 digit parameter number Mode Key Switches between the following six modes Monitor Mode Normal mode autotuning Parameter Setting Mode Auxiliary Function Mode Parameter Write Mode Copy Mode Increment Decrement Key Increases or decreases parameter numbers or set values Shift Key Shifts the digit being changed to the left Data Key Parameter name Explanation Notch Filter 1 Frequency Sets the notch frequency of notch filter 1 for resonance suppression Notch Filter 1 Width Selects the notch width of notch filter 1 for resonance suppression Inertia Ratio RT Selects the load inertia as a percentage of the Servomotor rotor inertia Realtime Autotuning Mode Selection Sets the operating mode for realtime autotuning Realtime Autotuning Machine Rigidity Selection Sets the machine rigidity for realtime autotuning Adaptive Filter Selection Enables or disables the adaptive filter Vibration Filter Selection Selects the vibration filter type and the switching mode Normal Mode Autotuning Operation Setting Sets the operating pattern for normal mode autotuning Switches between the parameter and setting displays saves settings etc Parameter name Default Display Expl
45. Using the CJ1W NCF71 or CS1W NCF71 Maximum transmission distance 0to30m 30to 50m 50 to 100 m Number of 1 to 15 Repeater not required Repeater not required Repeater required connected devices 16 Repeater not required Repeater required SYSMAC CS series PLC Application Restrictions Do not use the CJ1W MCH71 or CS1W MCH71 Motion Control Unit CS1W NCI 2 Use unit version 3 1 or later 1 Use unit version 2 0 or later CS1W NCF71 CJ1W NCF71 functions Applicability of the CJ1W CS1W MCH71 of the CU1W CS1W NCI 171 Absolute movements OK Position control Relative movements OK Support Software Interrupt feeding OK Speed control Cannot be used CX One Integrated Tool Package version 2 03 or Torque contr Cannotiberused Origin search OK higher ree o gging K Including CX Motion MCH and CX Motion NCF Overrides OK Other functions Present value preset OK Stop functions OK Compensation Cannot be used E 1 SMARTSTEP Junior AC Servomotors and Servo Drives with Built in MECHATROLINK II Communications HZ M Z R7D ZNLT ML2 omnon 5 8 Compact to Increase Control Panel Space Efficiency S The volume of the SMARTSTEP Junior is only 80 of the vol e ume of the R7D AP And communications can be connected with a single cable It all adds up
46. lt gt S gt T tint System variables position data global variables input variables USES TUS output variables and task variables Select BOOL WORD or DWORD g 8 v Number of traced items 32 16 x 2 groups az N B f 32 768 max one traced item 8 192 four traced objects gu Sampling interval Each Unit cycle Delay Number of samples to Number of samples gt F T EEO 2915 Trace results are displayed a graph 9 Operaen Woe Windows web alaiz lt gt lt 05 W Bet amp f 8 The graph can be expanded or contracted r o For each data item the scale can be changed the display position can be moved up down or the item be displayed or So x H 9 5 H zi E hidden p20 Sas 2 9 Ego 2 By using the cursors the cursor position T E values and the difference between two tab ee tans Opa Io points is displayed The graph can be printed as it appears on the screen Waren B EN wwe f x uw Axis 3 status Axis 3 status Current Controllers Position Control Units Note D can be used since the MC unit version 3 0 es FE o os Os o WSO2 MOPC2 Cam Data Creation Software 3 E Cam Data Capacity You can create up to 16 000 sets of cam data with each set s
47. CIG11BA 21 G33BA 100 W R88M WP10030 200 W 88 20030 400 W R88M WP40030 750 W 88 75030 1 5 kW R88M WP1K530 Motor Model 1 5 1 9 1 20 1 29 1 45 ity OG05 OGo09 020 G29 045 BJ BJ BJ BJ BJ 300 W R88M W30010 600 W R88M W60010 900 W R88M W90010 1 2 kW R88M W1K210 2 kW R88M W2K010 9 Note A circle indicates that the combination is possible Economy Decelerators Backlash Approx 45 min Decelerator Gear ratio 1 9 1 15 IGO9CJ IG15CJ R88M WP10030 R88M WP20030 R88M WP40030 R88M WP75030 R88M WP1K530 Note 1 A circle indicates that the combination is possible A blank indicates that it is not possible 2 The Decelerator shaft has a key 1500 Cylinder type Servomotors 450 W to 1 8 kW Decelerator Gear ratio Motor CHER Model 1 5 1 9 1 20 1 29 1 45 ity DG05 HGO9 0G20 1G29 0G45 BJ BJ BJ BJ BJ 450 W R88M W45015 850 W R88M W85015 9 1 3 kW R88M W1K315 1 8 kW 88 1 815 amp
48. 105 451 314 6 6 7 5 1 21 88 750300 0 21 143 42 7 85 190 128 5 93 x 105 813 490 9 9 10 8 1 33 R88M W75030LHLIG33BJ 91 67 0 85 121 201 2 63 x 10 5 921 490 9 9 10 8 1kW 1 5 R88M W1KO30LI LJGOSBJ 600 12 7 80 800 38 2 3 44 x 104 833 1280 13 14 4 1 9 R88M W1KO0S0L LIGO9BJ 333 22 9 80 444 68 7 3 11 x 104 980 1570 13 14 4 1 20 R88M W1K030L1 G20BJ 150 50 9 80 200 153 6 79 x104 2650 4220 30 31 4 1 29 R88M W1K030L LIG29BJ 103 73 8 80 138 221 4 88 x 104 2940 4900 30 31 4 1 45 R88M W1K030LHLIG45BJ 67 114 80 89 343 3 92 x 104 3430 5690 30 31 4 1 5 kW 1 5 R88M W1K530LHLIGO5BJ 600 19 6 80 800 58 8 3 44 x 104 833 1280 14 15 7 1 9 R88M W1K530L LIGO9BJ 333 353 80 444 106 4 77 x 10 1960 3000 31 32 7 1 20 R88M W1K530LHLIG20BJ 150 784 80 200 235 6 79 x 10 4 2650 4220 31 32 7 1 29 R88M W1K530L LIG29BJ 103 114 80 138 341 4 88 x 104 2940 4900 31 32 7 1 45 R88M W1K530L1 LIG45Bu 67 176 80 89 529 6 58 x 10 4 8040 8830 51 52 5 2kW 1 5 R88M W2K030LIHLJGOSBJ 600 254 80 800 764 3 44 x 10 833 1280 15 16 5 1 9 RO8M W2K030L L GO9BJ 333 45 8 80 444 138 4 77 x 10 1960 3000 32 33 5 1 20 R88M W2K030L LIG20BJ 150 102 80 200 306 6 79 x 104 2650 4220 32 33 5 1 29 R88M W2K0300 OG29BJ 103 148 80 138 443 1 03 x 10 3 6860 7350 52 53 5 1 45 R88M W2K030LHLIG45BJ 67 229 80 89 688 6 58 x 104 8040 8830 52 53 5 3kW 1 5 R88M W3KO030LI LIGOSBJ 600 39 2 80 800 118 1 02 x 10 3 1670 1960 29 32 1 9 R88M W3K03
49. 172160 1 Tyco Electronics AMP KK Connector pins 170365 1 Tyco Electronics AMP KK Cylindrical Servomotors 3 000 r min 1 to 1 5 kW Cylindrical Servomotors 2 000 r min 1 to 5 kW Cylindrical Servomotors 1 500 r min 7 5 kW Cylindrical Servomotors 1 000 r min 900 W to 6 kW R88A CRGC NR The empty boxes in the model number are for the cable length The cable can be 3 5 10 15 20 30 40 or 50 m long Servo Drive Connector Connector Crimped VO connector Molex Japan Co Ltd Connector pins 7 5 Servomotor Connector L Straight plug N MS3106B20 29S Japan Aviation Electronics Industry Ltd Cable clamp 50639 8028 N MS3057 12A d Molex Japan Co Ltd Japan Aviation Electronics Industry Ltd Symbol Name Absolute Encoder Backup Battery and Absolute Encoder Battery Cable Absolute Encoder Battery Cable included Contents Length m Model Battery not included 0 3m R88A CRGDOR3C One R88A BAT01G Battery 03m R88A CRGDOR3C BS Description 43 5 300 43 5 Pa 3 ci RE t 12 Battery holder t 12 Absolute Encoder Backup Battery R88A BATO1G C 19 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GN ML2 omnon RS 232 Communications Connector
50. Absolute encoder one turn counter error Absolute encoder multi turn counter error Absolute encoder status error Encoder phase Z error Encoder PS signal error Node address setting error Communications error Transmission cycle error Watchdog data error Emergency stop input error Transmission cycle setting error SYNC command error Parameter setting error Servomotor non conformity Pin No Symbol Name 1 E5V Encoder power supply 5 V 2 Eov Encoder power supply GND 3 BAT Battery 4 BAT Battery 5 PS Encoder phase S Input 6 5 Encoder phase S Input Shell FG Shield ground Parameter Unit Connector Specifications CN3 3 TXD RS 232 send data 4 GND Ground 5 RXD RS 232 receive data OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GN ML2 omnon C 48 S tors and meee CX Drive Servo System Controller New Product Information Concepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior Parameter omnon R88A RPO2G Parameter Unit Part Names Servo Parameters LED Display 6 Digits If an error occurs all digits will flash and the display will switch to the error display
51. class class 3 Servomotor Connector O4JFAT SAYGF N JST Mfg Co Ltd D OB ha Cis 2 5a 4 Cai CNB Connector Servomotor Connector CNB Pin Arrangement Signal No Signal Name Function 1 U Red Servomotor connection These the output terminals to the Servomotor 2 V White H Terminals Be careful to wire them correctly 3 w Blue 4 _ Do not connect anything to this terminal Frame ground Green Yellow Connect the Servomotor FG terminal E 13 SMARTSTEP Junior AC Servomotors and Servo Drives with Built in MECHATROLINK II Communications RZM Z R7D ZNL ML2 omnon E Control I O Signals CN1 Control Inputs Signal name Name Function Interface EXT1 External latch signal 1 input Functions as an origin signal during origin search and as an interrupt signal during interrupt feeding DEC Origin proximity input Deceleration input during origin search NOT Reverse drive inhibit input Reverse rotation overtravel input POT Forward drive inhibit input Forward rotation overtravel input 24 VIN supply input for 24 VDC power supply input terminal for sequence inputs pin 6 STOP Emergency stop input ON Servo OFF
52. 98 17 100W O Concepts 200 W New Product Information Motion Network Lineup 3 5 2 1 3 4 3 8 Controller Features 10 24 40 M6 M8 20 30 10 24 40 M6 M8 20 30 10 32 55 M6 MIO 20 45 O ALA aA CO O E Dimensions Servo System Features E3 Four Z2 Effective depth I TOS D D Four Z1 CX Drive Motor Selection Program D3h7 dia Servomotors and Servo Drives Selection Guide C2 x C2 G T 1 1 LM LR Controllers Position Control Units Key dimensions Controllers Motion Control Units OMNUC G OMNUC W Junior cc lt SMARTSTEP Junior AC Servomotors and Servo Drives with Built in MECHATROLINK II Communications RZM Z R7D ZNLT ML2 E 20 omnon For Cylinder type Motors Backlash 45 Arcminutes Max
53. Data can be centrally managed at the host for improved settings and maintenance Axes can be started simultaneously by using synchronous communications control pu mpm Jove Soave Front 15 OMNUC W SMARTSTEP Junior Easy to Use Plug and Play Servo Greatly Reduces Startup Time SMARTSTEP Junior fencer New Product Information Motion Network Lineup Concepts Features Controller Features E gt 2 e CX Drive Servomotors and Servo Drives Selection Guide Axis 1 operating condition Vi amp Controllers Position Control Units uni MOV Axis 1 target position Axis 1 position command units Start bit Axis 1 operating condition Axis 1 busy al s Axis 1 start 0Sil uni 5 2 22 Axis 2 operating condition Axis 2 busy z Axis 2 start o z dvantages z Absolute and relative positioning of multiple axes be performed by manipulating bits directly from the PLC e The target speed can be changed during positioning by sending another command z MECHATROLINK II is a registered trademark of the MECHATROLINK Members Association ns ee lt WV IS JI N Daye DSI u 2 Front 16 CX Drive Support Software Version Ver 1 6 The CX Drive is a software application that enables setting downloading uploading and comp
54. Degree of protection Built into panel IP10 EMC Directive EN Sis A Group 1 EC Directives International Low Voltage EN50178 s standards Directive 8 UL standards UL508C e5 cUL standards cUL C22 2 No 14 5 ou Control Specifications Applicable motor capacity 100 W 200 W 400 W 750 W Servo Drive model R7D ZNO1H ML2 ZNO2H ML2 ZNO4H ML2 ZNO8H ML2 Item Applicable Servomotors R7M Z10030 S1 Z20030 S1 Z40030 S1 Z75030 S1 Continuous output current rms 0 84 A 14A 2 0A 3 7A Servo System Features Momentary maximum output current rms 25A 3 3A 6 0 A 11 1 A Input power supply for main circuit and control circuit Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz CX Drive Motor Selection Program Control method All digital servo Inverter method IGBT driven PWM method Weight 1 0 kg 5 58 Ee 23 LZ vo Controllers Controllers OMNUC W OMNUC G Motion Control Units Position Control Units Junior cc lt SMARTSTEP Junior AC Servomotors and Servo Drives with Built in MECHATROLINK II Communications RZM Z R7D ZNLT ML2 E 8 omnon AC Servomotor Specifications R7M Z General Specifications Item Specifications Ambient operating temperature 0 to 40 C Ambient operating humidity 20 to 80 with no condensation Ambient storage temperature 20 to 60 C Ambient
55. R88A CAGB005BR 10 R88A CAGB010BR 3 000 r min Servomotors of 1 to 1 5 kW 15 R88A CAGBO15BR 2 000 r min Servomotors of 1 to 1 5 kW 1 000 r min Servomotors of 900 W 20m R88A CAGBO20BR 30 R88A CAGBO30BR 40 R88A CAGBO40BR 50 R88A CAGBO50BR 3m R88A CAGCOOSBR 5m R88A CAGCOO5BR 10 R88A CAGCO10BR 3 000 r min Servomotors of 2 kW 15 R88A CAGCO1SBR 2 000 r min Servomotors of 2 kW 20 R88A CAGCO20BR 30 R88A CAGCO3O0BR 40 R88A CAGCO40BR 50 R88A CAGCO50BR 3m R88A CAGDOOSBR 5m R88A CAGDOOSBR 10 R88A CAGDO10BR 3 000 r min Servomotors of to 5 kW 15 R88A CAGDO15BR 2 000 r min Servomotors of 3 to 5 kW 1 000 r min Servomotors of 2 to 4 5 kW 20 R88A CAGDO20BR 30 R88A CAGDO30BR 40 R88A CAGD040BR 50 R88A CAGDO50BR Model 3 000 r min Servomotors of 50 to 750 W 3 000 r min Flat Servomotors of 100 to 400 W 3m R88A CAGA003BR omnon Encoder Cables Robot Cables NEW Specifications Model R88A CRGA003CR R88A CRGA005CR R88A CRGA010CR 3 000 r min Servomotors of 50 to 750 W with an absolute encoder R88A CRGA015CR 3 000 r min Flat Servomotors of 100 to 400 W with an absolute encoder R88A CRGA020CR R88A CRGA030CR R88A CRGA040CR R88A CRGA050CR R88A CRGB003CR R88A CRGB005CR R88A CRGB010CR 3 000 r min Servomotors of 50 to 750 W with an incremental encoder R88A CRGB015CR
56. of March 2007 The standards are abbreviated as follows U UL U1 UL Class Division 2 Products for Hazardous Locations C CSA UC cULus UC1 cULus Class Divition 2 Products for Hazardous Locations CU cUL NK L Lloyd and CE EC Directives e Ask your OMRON representative for the conditions under which the standards were met Servo Drives Selection Guide a a 2 o i i 25 MECHATROLINK related Devices and Cables Manufactured by Yaskawa Corporation 23 OMRON model number Yaskawa model number 5 os 0 5m FNY W6003 A5 JEPMC W6003 A5 OF a 1 0m FNY W6003 01 JEPMC W6003 01 3 0m FNY W6003 03 JEPMC W6003 03 o MECH ROHN Cables 5 0m FNY W6003 05 JEPMC W6003 05 22 with ring core and USB connector on both ends ez 10 0m FNY W6003 10 JEPMC W6003 10 L4 QE 20 0m FNY W6003 20 JEPMC W6003 20 30 0 FNY W6003 30 JEPMC W6003 30 MECHATROLINK II Terminating Resistor Terminating resistance FNY W6022 JEPMC W6022 9 MECHATROLINK II Repeater Communications Repeater FNY REP2000 JEPMC REP2000 9 Note MECHATROLINK related Devices and Cables are manufactured by Yaskawa Corporation but they can be ordered directly fom OMRON using the OMRON model numbers Yaskawa brand products will be delivered even when they are ordered from OMRON o Accessories None o 2 2 F 0 5 5 o SYSMAC CJ
57. 1 5 VRSFPB05B100 VRSFPB05B100P 600 1 19 75 900 3 60 4 0 x 10 6 392 196 100 W 1 9 VRSFPBO09B100 VRSFPBO9B100P 333 2 29 80 500 6 91 3 43 x 10 6 441 220 1 15 VRSFPB15B100 VRSFPB15B100P 200 3 82 80 300 11 5 3 62 x 10 6 588 294 1 25 VRSFPB25C100 VRSFPB25C100P 120 6 36 80 180 19 2 3 92 x 10 6 1323 661 1 5 VRSFPB05B200 VRSFPB05B200P 600 2 71 85 900 8 12 1 58 x 1075 392 196 1 9 VRSFPBO09C400 VRSFPB09C400P 333 3 78 66 500 11 3 2 68 x 1075 931 465 1 15 VRSFPB15C400 VRSFPB15C400P 200 6 31 66 300 18 9 2 71 x 105 1176 588 1 25 VRSFPB25C200 VRSFPB25C200P 120 11 1 70 180 33 4 2 67 x 1075 1323 661 1 5 VRSFPB05C400 VRSFPBO5C400P 600 5 40 85 900 16 2 3 22 x 10 5 784 392 400 W 1 9 VRSFPBO09C400 VRSFPB09C400P 333 9 49 83 500 28 5 2 68 x 10 5 931 465 1 15 VRSFPB15C400 VRSFPB15C400P 200 15 8 83 300 47 6 2 71 x 10 5 1176 588 1 25 VRSFPB25D400 VRSFPB25D400P 120 26 4 83 180 79 3 2 79 x 1075 1617 808 1 5 VRSFPB05C750 VRSFPB05C750P 600 10 8 90 900 32 0 747 x 1075 784 392 350 W 1 9 VRSFPBO09D750 VRSFPBO9D750P 333 18 3 85 500 54 3 6 50 x 1075 1176 588 1 15 VRSFPB15D750 VRSFPB15D750P 200 30 5 85 300 90 5 7 09 x 1075 1372 686 1 25 VRSFPB25E750 VRSFPB25E750P 120 50 8 85 180 151 7 05 x 1075 2058 1029 Note 1 This the inertia for Cylinder type Servomotors For inertia values for Flat type Servomotors refer to SMARTSTEP Series User s Manual Cat No 1533 2 The allowable radial loa
58. 21 2 28 3 Power supply capacity 0 5 KVA 0 5 KVA 0 9 KVA 1 3 KVA 1 8 KVA 2 3 KVA Main circuit Power supplv voltade Single phase 200 to 240 VAC Single phase or Three phase PPly 9 170 to 264 V 50 60 Hz 200 to 240 VAC 170 to 264 V 50 60 Hz nput power supply Rated current 1 3A 20 3 7A 5 0 3 3 A 7 5 4 1 A 11 8 0 A Power supply voltage Single phase 200 to 240 VAC 170 to 264 V 50 60 Hz Control circuit Rated current 0 05 A 0 05 A 0 05 A 0 05 A 0 07A 0 07A Heat Main circuit 14 3 W 14 8 W 23 6 W 38 7 W 52 9 W 105 9 W generated Control circuit 4 5 W 4 5 W 4 5 W 4 3 W 6 1 W 6 1 W PWM frequency 12 0 kHz 6 0 kHz Weight Approx 0 8 kg Approx 0 8 kg Approx 1 1 kg Approx 1 5 kg Approx 1 7 kg Approx 1 7 kg Maximum applicable motor capacity 100 W 200 W 400 W 750 W 1 kW 1 5 kW G05030H G10030H G20030H G40030H G75030H 3 000 r min Servomotors Benet BON ABS G10030T G20030T G40030T G75030T _ G1K530T Applicable INC GP10030H GP20030H GP40030H _ _ _ Servomotors 3 000 r min Flat Servomotors GP10030T GP20030T GP40030T _ _ 2 000 r min Servomotors _ _ _ _ G1K020T G1K520T 1 000 r min Servomotors ABS _ _ _ _ _ G90010T Control method All digital servo Inverter method IGBT driven PWM method Speed control range 1 5000 2 Speed variability Load characteristic 0 01 or less at 0 to 100 at rated speed E Speed variability Voltage characteristic 0 at 10 of rated voltage at rated speed S s Speed variability
59. 3 000 r min Flat Servomotors of 100 to 400 W with an incremental encoder R88A CRGB020CR R88A CRGB030CR R88A CRGB040CR R88A CRGB050CR R88A CRGC003NR R88A CRGC005NR 3 000 r min Servomotors of 1 to 5 kW R88A CRGC010NR 2 000 r min Servomotors of 1 to 5 kW R88A CRGC015NR 1 500 r min Servomotors of 7 5 kW 1 000 r min Servomotors of 900 W to 6 kW R88A CRGC020NR R88A CRGC030NR R88A CRGC040NR e Communications Cables Specifications R88A CRGC050NR Model RS 232 Communications Cable Personal Computer Monitor Cable R88A CCG002P2 5m R88A CAGA005BR 10 R88A CAGA010BR 15m R88A CAGA015BR 20m R88A CAGA020BR 30m R88A CAGA030BR 40m R88A CAGA040BR 50m R88A CAGA050BR e Connectors Specifications Model Servomotor Connector for Absolute Encoder R88A CNGO1R Encoder Cable Incremental Encoder R88A CNGO2R Control I O Connector CN1 R88A CNUO1C Encoder Connector CN2 R88A CNWO1R Power Cable Connector 750 W max R88A CNGO1A NEW Brake Cable Connector 750 W max R88A CNGO1B NEW e Control Cables Specifications Model XW2Z 100J B33 NEW XW2Z 200J B33 NEW XW2B 20G4 XW2B 20G5 XW2D 20G6 Connector Terminal Block im Cables 2m M3 screw type Connector Terminal Block M3 5 screw type M3 screw type
60. 36310 3200 008 8 m 5 m 10 15 m or 20 m EB i EB Sumitomo 3M SMARTSTEP Junior AC Servomotors and Servo Drives with Built in MECHATROLINK II Communications R7M Z R7D ZN ML2 E 6 Servomotors and Controllers Controllers SUE CX Drive Servo System Controller New Product information OMNUC G Motion Control Units Position Control Units CHR ula Motor Selection Program Features Features Motion Network Lineup Concepts OMNUC W Junior LL cc lt omnon MECHATROLINK II Cables CN6 No Name Specifications OMRON mocelnumben Yaskawa model number See note 0 5m FNY W6003 A5 JEPMC W6003 A5 1 0m FNY W6003 01 JEPMC W6003 01 3 0m FNY W6003 03 JEPMC W6003 03 MECHATROLINK II Cables manufactured by Yaskawa Corporation 5 0m FN W600S 05 ERMC W6009 05 10 FNY W6003 10 JEPMC W6003 10 20m FNY W6003 20 JEPMC W6003 20 30m FNY W6003 30 JEPMC W6003 30 5 MECHATROLINK II Terminating Resistor FNY W6022 JEPMC W6022 manufactured by Yaskawa Corporation Note These MECHATROLINK II products can be ordered directly fom OMRON using the OMRON model numbers Only the Yaskawa model number will appear on the products that will be delivered CN1 Options No Name Description Model number 6 Contr
61. 40 R88A CAGA040SR 50 88 3m R88A CAGBOOSSR 5m R88A CAGBOO5SR 10m R88A CAGBO10SR 3 000 r min Servomotors of 1 to 1 5 kW 15m R88A CAGBO15SR 2 000 r min Servomotors of 1 to 1 5 kW 1 000 r min Servomotors of 900 W 20m R88A CAGB020SR 30 R88A CAGB030SR 40 R88A CAGB040SR 50 R88A CAGBO50SR 3m R88A CAGC003SR 5 R88A CAGCOO5SR 10 R88A CAGCO10SR 3 000 r min Servomotors of 2 kW 15 R88A CAGCO1SSR 2 000 r min Servomotors of 2 kW 20 R88A CAGCO20SR 30 R88A CAGCO30SR 40 R88A CAGCO40SR 50 R88A CAGCO50SR 3m R88A CAGDOOSSR 5m R88A CAGDOO5SR 10m R88A CAGDO10SR 3 000 r min Servomotors of to 5 kW 15 R88A CAGD015SR 2 000 Servomotors of 3 to 5 kW 1 000 r min Servomotors of 2 to 4 5 kW 20 R88A CAGDO20SR 30 R88A CAGD030SR 40 R88A CAGDO40SR 50 R88A CAGD050SR ML2 C 12 S tors and sears Daal CX Drive Servo System Controller New Product Information Concepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior Servomotor Power Cables Robot Cables NEW For Servomotor with brake Specifications Model Specifications e Brake Cables Robot Cables NEW 3m R88A CAGB003BR 5
62. 5 OUTM3 General purpose Output 3 General purpose Input 1 INi 6 OUTM3COM Forword Torque Limit Input PCL Reverse Torque 7 Limit Input NCL 8 Forward Drive Prohibit Input POT 9 Reverse Drive Prohibit Input NOT 20 i Input DEC 21 Backup Battery 1 General purpose 22 InputO 33 BATCOM General purpose Input 2 IN2 23 1 Ifa backup battery is connected a cable with a battery is not required 2 Inputs for pins 19 and 20 are determined by parameter settings The diagram shows the default configuration C 41 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNLT ML2 omnon Peripheral Device Connection Examples R88D GNASL ML2 GNO1L ML2 GNO2L ML2 GNOA4L ML2 R88D GNO1H ML2 GNO2H ML2 GNO4H ML2 GNO8H ML2 GN10H ML2 GN15H ML2 Single phase 100 to 115 VAC 50 60 Hz R88D GNLILIL ML2 Single phase 200 to 240 VAC 50 60 Hz R88D GNL IL H ML2 pe NFB Q Q Noise filter OFF ON Main circuit contactor x P T4 1MC Ground to T Ney 100 Q or less 111 Surge killer X 1MC Servo error display OMNUC G Series OMNUC G Series AC Servo Drive AC Servomotor Power Cable XB 2 i
63. Built into panel IP10 EN 55011 Class A Group 1 EC EMC Directive no EN 61000 6 2 IEC 61000 4 2 3 4 5 6 11 International BIST Low Voltage Directive EN 50178 standards UL standards UL 508C CSA standards CSA 22 2 No 14 Note 1 The above items reflect individual evaluation testing Characteristics Servo Drives with 100 VAC Input Power The results may differ under compound conditions Note 2 Never perform withstand voltage or other megameter tests on the Servo Drive Doing so may damage the internal elements Note 3 Depending on the operating conditions some Servo Drive parts will require maintenance Note 4 The service life of the Servo Drive is 28 000 hours at an average ambient temperature of 55 C at 100 of the rated torque Item R88D GNA5L ML2 R88D GNO1L ML2 R88D GNO2L ML2 R88D GNO4L ML2 Continuous output current rms 1 3A 1 8A 24 49 Momentary maximum output current rms 3 9A 54 7 2 14 7 Power supply capacity 0 4 KVA 0 4 KVA 0 5 KVA 0 9 KVA Main circuit Power supply voltage Single phase 100 to 115 VAC 85 to 127 V 50 60 H Input power Rated current 14 22 87A 6 6A supply Power supply voltage Single phase 100 to 115 VAC 85 to 127 V 50 60 H Control circuit Rated current 0 09 A 0 09A 0 09 A 0 09 A Heat Main circuit 10 1 W 14 4W 18 4 W 41 4 W generated Control circuit 44 W 4 4 W 4 4 W 4 4 W Control method All digita
64. D 23 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WNL ML2 Torque and Rotation Speed Characteristics omnon Flat type Servomotors with a 200 VAC Servo Drive The following graphs show the characteristics with a 3 m standard cable and 200 V AC input R88M WP10030H T 100 W N m 1 0 40 955 0 955 4500 0 84 0 750 Ded Repeated usage 0 4 4 0 318 0 318 0 2 4 Continuous usage T T T T 1 r min 1000 2000 3000 4000 5000 R88M WP75030H T 750 W N m 8 0 4 7 16 7 16 6 0 Repeated usage 4 0 2 0 Continuous usage T i i i r min 1000 2000 3000 4000 5000 R88M WP20030H T 200 W N m 2 0 11 91 Repeated usage 0 637 0 637 0 54 Continuous usage 0 39 T T T T r min 1000 2000 3000 4000 5000 R88M WP1K530H T 1 5 kW N m Continuous usage T T 1 r min 1000 2000 3000 4000 5000 Flat type Servomotors with a 100 VAC Servo Drive The following graphs show the characteristics with a 3 m standard cable and 100 V AC input R88M WP10030H T 100 W N m 1 0 40 955 0 955 4500 0 87 0 750 0 64 Repeated usage 0 44 0 318 0 318 0 24 Continuous usage T T T T 1000 2000 3000 4000 5000 R88M WP20030H T 200 W N m 2 0 41 91 1 91 0 637 0 54 Continuous usage T T T T 1
65. ML2 omnon AC Servo Drives Specifications Model MECHATROLINK II Communications incremental and absolute encoders 50 W R88D WNA5H ML2 100 W R88D WNO1H ML2 200W R88D WNO2H ML2 400W R88D WNO4H ML2 500W R88D WNO5H ML2 200 VAC 750 W R88D WNO8H ML2 1 0 kW R88D WN10H ML2 1 5 kW R88D WN15H ML2 2 0kW R88D WN20H ML2 3 0 kW R88D WN30H ML2 50 W R88D WNASL ML2 100W R88D WNO1L ML2 100 VAC 200W R88D WNO2L ML2 400W R88D WNO4L ML2 Decelerators Straight Shaft with Key Nidec Shimpo Corporation For Cylinder type Motors Backlash 3 Arcminutes Max For Flat type Motors Backlash 3 Arcminutes Max Motor Gear ratio Motor Gear ratio 1 B ode capacity 4 9 1 15 capacity 1 5 1 9 1 15 1 25 R7G VRSFPB05B50 OK R7G VRSFPBOSB100P OK R7G VRSFPBO9B50 OK R7G VRSFPBO9B100P OK 50W 100 W R7G VRSFPB15B50 OK R7G VRSFPB15B100P OK R7G VRSFPB25B50 OK R7G VRSFPB25C100P OK R7G VRSFPBO5B100 OK R7G VRSFPBO5B200P OK R7G VRSFPBO9B100 OK R7G VRSFPBO9C400P OK 100 W 200 W R7G VRSFPB15B100 OK R7G VRSFPB15C400P OK R7G VRSFPB25C100 OK R7G VRSFPB25C200P OK R7G VRSFPB05B200 OK R7G VRSFPBO5C400P OK R7G VRSFPB09C400 OK R7G VRSFPBO9C400P OK 200 W 400 W R7G VRSFPB15C400 OK R7G VRSFPB15C400P OK R7G VRSFPB25C200 OK R7G VRSFPB25D400P
66. R88G HPG32A112K0SB 182 72 1 92 273 197 7 3 40 x 10 1126 4488 7 8 R88G HPG50A213K0B 95 137 5 92 143 377 0 5 80 x 10 3611 12486 19 0 R88G HPG50A332K0SB 60 219 4 93 91 601 5 4 70 x 10 4135 14300 19 0 R88G HPG32A053K0B 400 43 2 91 600 119 9 3 80 x 10 889 3542 7 3 R88G HPG32A112K0SB 182 97 4 93 273 270 5 3 40 x 10 1126 4488 7 8 R88G HPG50A213K0B 95 185 6 93 143 515 9 5 80 x 104 3611 12486 19 0 R88G HPG50A332K0SB 60 270 0 93 91 815 0 4 70 x 104 4135 14300 19 0 R88G HPG32A054K0B 400 66 0 92 600 190 1 3 80 x 104 889 3542 7 9 R88G HPG50A115K0B 182 145 2 92 273 418 3 8 80 x 104 2974 10285 19 1 R88G HPG50A213K0SB 95 260 0 93 143 806 4 6 90 x 10 3611 12486 19 1 R88G HPG65A253K0SB 80 322 9 90 120 930 1 3 00 x 103 7846 28654 52 0 R88G HPG50A054K0SB 400 85 8 91 600 250 3 1 20 x 103 2347 8118 18 6 R88G HPG50A114K0SB 182 192 7 93 273 562 8 8 70 x 10 2974 10285 20 1 R88G HPG65A204K0SB 100 342 2 91 150 999 2 3 28 x 103 7338 26799 52 0 R88G HPG65A254K0SB 80 430 9 92 120 1258 6 3 24 x 103 7846 28654 52 0 R88G HPG50A055K0SB 400 109 8 92 600 325 5 1 10 x 103 2347 8118 22 0 R88G HPG50A115KOSB 182 200 0 93 273 723 8 8 40 x 104 2974 10285 23 5 R88G HPG65A205K0SB 100 438 2 92 150 1300 5 2 85 x 103 7338 26799 55 4 R88G HPG65A255K0SB 80 550 9 93 120 1634 4 2 81 x 103 7846 28654 55 4 R88G HPG65A057K5SB 300 221 1 92 400 511 2 2 07 x 10 4841 17681 48 0 R88G HPG65A127K5SB 125 540 8 94 166 1250 7 2 02 x 10 6295 22991 52 0 1 Rated torque indicat
67. S2 R88M G10030L B S2 R88M G10030H B S2 R88M G05030T S2 R88M G10030S S2 R88M G10030T S2 R88M G05030T B S2 R88M G10030S B S2 R88M G10030T B S2 Brake connector Encoder Model connector Servomotor connector 25 R88M G05030 sn 6 3 R88M G10030 Rn R88M G05030L Dimensions of shaft end R88M G100300 with key and tap _ 2 5 Two 43dia 40x40 14 The empty bax in the L H L T or S S e 12 5 Note The standard models have a straight shaft d NM SE A model with a key and tap is indicated by Rr gia t adding S2 to the end of the model 5 S oF number 1 1 E ys 24 9 LI L 200 W 400 W 750 W R88M G20030L S2 R88M G40030L S2 R88M G20030H S2 R88M G40030H S2 R88M G75030H S2 R88M G20030L B S2 R88M G40030L B S2 R88M G20030H B S2 R88M G40030H B S2 R88M G75030H B S2 ABS R88M G20030S S2 R88M G40030S S2 R88M G20030T S2 R88M G40030T S2 R88M G75030T S2 R88M G20030S B S2 R88M G40030S B S2 R88M G20030T B S2 R88M G40030T B S2 R88M G75030T B S2
68. Stops power to Servomotor CN1 Control Outputs Pin No Signal name Name Function Interface AL Alarm output When the Servo Drive generates an alarm the output turns OFF Note OFF for approx 2 s after the power is turned ON BKIR Brake interlock output Outputs the holding brake timing signals Release the holding brake when this signal is ON OGND Output ground common Ground common for sequence outputs pins 12 and 13 Concepts New Product Information Motion Network Lineup Note An open collector output interface is used for sequence outputs maximum operating voltage 30 V DC maximum output current 50 mA Bi CN1 Connectors 14 Soldered Connectors Controller Features Manufacturer 10114 3000VE 10314 52A0 008 Cable plug Cable case shell kit Sumitomo 3M Servo System Features E Encoder Connector Specifications CN2 E os Ze 1 E5V Encoder power supply 5 V a gt lt 2 EOV Encoder power supply GND oT 3 Phase A Encoder phase A input 4 Phase A Encoder phase A input P sae 5 Phase B Encoder phase B input 5 2 o 6 Phase B Encoder phase B input E 7 Phase 2 Encoder phase Z input s E o 8 Phase U Pole sensor phase U input 2 9 Phase V Pole sensor phase V input es 10 Phase W Pole sensor phase W input 5 s Shell FG Shield ground 55 OF
69. T A B Encoder B phase EIA RS422A conforming 9 3 3 lt B outputs Load resistance 220 Q min 112 Z Encoder Z phase Z outputs External latch signal 4 N See note 4 3 3 ko 1 SIO GND Backup battery See note 2 o FG 2 810 4 5 V Frame ground User control device MECHATROLINK II cable D 31 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WNL1 ML2 Components and Functions omnon E Terminal Block and Connector Functions Model number Rotary Switch SW1 Used for setting MECHATROLINK II node address AC SERVO DR Charge Indicator Main circuit Power Terminals These are the input terminals for Lit when the main circuit is powered Also for Servo Drivers of 1 kW or less the indicator lights dimly when only the control power supply is ON Even after the power is turned OFF it remains lit as long as an electric charge remains in the main circuit capacitor so do not touch the Servo Driver s terminals during this period 200V Input voltage Top cover the main circuit power supply Control Power Terminals Regenerative Resistance Terminals These are terminals for external regenerative resistance Servomotor Connector Terminals These are connector terminals These are input terminals for t
70. Temperature characteristic 0 1 or less at 0 to 50 C at rated speed Torque control reproducibility 3 at 20 to 100 of rated torque 1 The left value is for single phase input power and the right value is for three phase input power OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNL I ML2 C 22 s tors and A SSS ieee CX Drive Servo System Controller New Product Information Co ncepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior omnon Servo Drives with Three phase 200 VAC Input Power Item R88D GN20H ML2 R88D GN30H ML2 R88D GN50H ML2 R88D GN75H ML2 Continuous output current rms 14 3 17 4 31 0A 45 4A Momentary maximum output current rms 45 3A 63 6 84 8 170 0 Power supply capacity 3 3 KVA 4 5 KVA 7 5 KVA 11 KVA Main circuit Power supply voltage Three phase 200 to 230 VAC 170 to 253 V 50 60 Hz Input power Rated current 10 2 A 15 2 23 7 35 0 supply Power supply voltage Single phase 200 to 230 VAC 170 to 253 V 50 60 Hz Control circuit Rated current 01 0 12 0 12A 0 14 A Heat Main circuit 112 3 W 219 6 W 391 7 W 376 2 W generated Control circuit 10 7W 13 3 W 13 3 W 13 8 W PWM frequency 6 0 kHz Weight Approx 3 2 kg Approx 6 0 kg A
71. r min 1000 2000 3000 4000 5000 R88M WP40030H T 400 W N m 4 0 43 82 3 82 T T T T r min 1000 2000 3000 4000 5000 R88M WP40030H T 400 W N m 4 0 43 82 3 82 3 04 Repeated usage 2 04 1 27 1 00 0 76 Continuous usage T T T T r min 1000 2000 3000 4000 5000 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WNL ML2 D 24 Concepts New Product Information Motion Network Lineup Controller Features Servomotors and CX Drive Servo System Motor Selection Program Features Controllers Position Control Units Servo Drives Selection Guide Controllers Motion Control Units OMNUC G SMARTSTEP Junior Decelerator Specifications R7G VRSF omnon Performance Specifications Backlash 3 Arcminutes Max Rated Rated Maximum Maximum Decelerator Allowable Allowable Model R7G Ratio momentary momentary inertia radial load Motor Gear torque See note 1 See note 2 d capacity ratio For Cylinder type For Flat type ria BN I r min Nm kg m N N Servomotor Servomotor 1 5 VRSFPBO5B50 600 0 517 65 900 1 56 4 13 x 10 6 392 196 50 W 1 9 VRSFPBO9B50 o 333 0 93 65 500 2 81 3 53 x 10 6 441 220 1 15 VRSFPB15B50 eet 200 1 67 70 300 5 04 3 67 x 106 588 294 1 25b VRSFPB25B50 120 2 78 70 180 8 40 3 59 x 10 6 686 343
72. 0 to 100 at rated rotation speed 0 0196 max at 0 to 100 at rated rotation speed 0 at rated voltage 10 at rated rotation speed 0 at rated voltage 10 at rated rotation speed 0 1 max at 0 to 50 C at rated rotation speed 0 1 max at 0 to 50 C at rated rotation speed 600 Hz See note 400 Hz See note 600 Hz See note 1 1 Note At a load inertia equivalent to the Servomotor s rotor inertia AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WNL ML2 D 16 S tors and d Sari Drives CX Drive Servo System Controller New Product Information Concepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC G SMARTSTEP Junior omRON AC Servomotor Specifications R88M W Performance Specifications 3 000 r min Cylinder type Servomotors Power supply Specification 200 V AC See note Model R88M W05030H W10030H W20030H W40030H W75030H W1K030H W1K530H W2K030H W3K030H Item Unit W05030T W10030T W20030T W40030T W75030T W1KO030T W1K530T W2KO030T W3K030T 100 V AC Applicable Servo Drive R88D 200 V AC Rated output w Rated torque N m Rated rotation speed r min Mo
73. 1 25 19 30 5 M6 M4 20 22 6 6 3 5 R88G VRSFOSC400PCJ 1 5 19 30 M5 M6 M4 20 22 6 6 8 5 R88G VRSFO9C400PCJ 1 9 400 19 30 M5 M6 M4 20 22 6 6 8 5 R88G VRSF15C400PCJ 1 15 19 30 M5 M6 M4 20 22 6 6 8 5 R88G VRSF25C400PCJ 1 25 Set bolt AT Key Dimensions of tt i OMNUC G series Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNLI ML2 72 S tors and dervo Drive CX Drive Servo System Controller New Product Information Concepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior omnon Parameter Unit R88A PRO2G 62 NONE M3 depth 5 KO 114 Mini DIN 8 pin MD connector External Regeneration Resistor R88A RR22047S Thermal switch output S Is 55 T E Ss H aoc n 200 t 2 500 20 L 220 N 230 0 3mm 0 75mm 1 5 dia 48 5 104 122 130 R88A RR50020S 25 43 10 78 C 73 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communication
74. 1 62 1 9 R88M WP10030LI LJGO9CJ 333 2 29 80 556 6 88 1 37 x 10 5 441 220 1 42 1 62 1 15 R88M WP10030L LIG15CJ 200 3 82 80 333 11 5 3 38 x 10 6 588 294 1 47 1 67 1 25 R88M WP10030L LIG25CJ 120 6 36 80 200 19 1 3 68 x 10 6 1323 661 2 5 2 7 200W 1 5 R88M WP20030L LIGOSCJ 600 2 71 85 1000 8 12 1 53 x 105 392 196 2 25 2 75 1 9 R88M WP20030L LIGO9CJ 333 3 78 66 556 11 3 2 56 x 10 5 931 465 3 2 3 7 1 15 88 200300 0815 200 6 31 66 333 18 9 2 71x 10 5 1176 588 3 6 4 1 1 25 R88M WP20030L LIG25CJ 120 11 1 70 200 33 4 2 67 x 10 5 1323 661 3 6 4 1 400 W 1 5 R88M WP40030L LIGOSCJ 600 5 40 85 1000 16 2 3 23 x 105 784 392 3 9 44 1 9 R88M WP40030LI LJGO9CJ 333 9 49 83 556 28 5 2 56 x 10 5 931 465 3 9 44 1 15 R88M WP40030L LIG15CJ 200 15 8 83 333 47 6 2 71 x105 1176 588 4 3 4 8 1 25 88 400300 06256 120 26 4 83 200 79 3 2 79 x 105 1617 808 5 4 5 9 750W 1 5 R88M WP75030L1 LIGOSCJ 600 10 8 90 1000 32 2 7 17 x105 784 392 6 7 8 2 1 9 R88M WP75030LI LJGO9CJ 333 18 2 85 556 54 7 6 50 x 105 1176 588 8 0 9 5 1 15 R88M WP750300 0G15CJ 200 30 4 85 333 91 2 6 86 x 105 1372 686 8 4 9 9 1 25 R88M WP750300 0OG25CJ 120 50 7 85 200 152 7 05 x 105 2058 1029 11 8 13 3 D 29 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WN ML2 Connections omnon Bi Standard Wiring Diagram R88D WN ML2 Sin
75. 15 4 4 R88G VRSF25B100CJ 1 25 12 20 5 5 M4 12 16 4 4 2 5 R88G VRSF05B200CJ 1 5 19 30 M5 M6 M4 20 22 6 6 8 5 R88G VRSF09C200CJ V ow 19 30 M5 M6 M4 20 22 6 6 8 5 R88G VRSF15C200CJ 1 15 19 30 M5 M6 M4 20 22 6 6 8 5 R88G VRSF25C200CJ 1 25 19 30 M5 M6 M4 20 22 6 6 8 5 R88G VRSF05C400CJ 1 5 19 30 M5 M6 M4 20 22 6 6 8 5 R88G VRSFO09C400CJ 9 ow 19 30 M5 M6 M4 20 22 6 6 8 5 R88G VRSF15C400CJ 1 15 19 30 M5 M6 M4 20 22 6 6 8 5 R88G VRSF25C400CJ 1 25 19 30 M5 M6 M4 20 22 6 6 8 5 R88G VRSF05C750CJ 1 5 24 40 M5 M8 M4 20 30 8 7 4 R88G VRSF09D750CJ 1 9 24 40 5 M8 M4 20 30 8 7 4 R88G VRSF15D750CJ wm Ww 24 40 M5 M8 M4 20 30 8 7 4 R88G VRSF25D750CJ 1 25 Set bolt AT Key Dimensions n z m Lh OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNLI ML2 C 70 Servomotors and CX Drive Servo System Controller New Product Information Co ncepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior omnon 3 000 r min Flat Servomotors e Backlash 15 Arcminutes Max Dimensions mm Model LM LR C1 C2 D1 D2 D3 D4 E3 F G 1 5 R88G VRSF05B100PCJ 67 5 32 52 60 70 60 50 45 10 3 8 1 9 R88G VRSF09B100PCJ 67 5 32 52 60 70 60 50 45 10 3 8 1 15 R88G VRSF15B100PCJ 78 0 32 52 60 70 60 50 45 10 3 8
76. 17 1 21 R88M WP10030L LIG21BJ 143 5 34 80 190 16 0 4 29 x 10 6 392 235 3 0 32 1 33 R88M WP10030L LIG33BJ 91 8 40 80 121 252 3 29 x 10 6 431 235 3 0 3 2 200 W 1 5 88 2003001 1605 600 2 55 80 800 7 64 3 60 x 10 5 245 235 35 4 0 1 11 R88M WP20030L LIG11BJ 273 5 96 85 364 17 9 8 80 x 10 6 323 235 3 8 43 1 21 R88M WP20030L 1G21BJ 143 114 85 190 34 1 1 10 x 105 549 294 4 1 46 1 33 R88M WP20030L I IG33BJ 91 17 9 85 121 53 6 6 50 x 10 6 608 294 4 1 4 6 400 W 1 5 R88M WP40030L1 LIGOSBJ 600 5 40 85 800 16 2 3 60 x 10 5 245 235 42 47 1 11 R88M WP40030L LIG11BJ 273 11 9 85 364 35 7 1 95 x 105 441 294 4 8 5 3 1 21 R88M WP400300 0G21BJ 143 22 7 85 190 68 2 1 95 x 10 5 568 314 5 2 5 7 1 33 R88M WP40030LH IG33BJ 91 33 5 80 121 101 1 72 x 10 657 314 7 7 8 2 750 W 1 5 R88M WP75030L1 LIGOSBJ 600 10 2 85 800 30 4 7 65 1055 343 294 6 9 8 4 1 11 R88M WP75030L LIG11BJ 273 22 3 85 364 67 0 5 23 x 105 451 314 8 0 9 5 1 21 R88M WP75030L 1G21BJ 143 42 7 85 190 128 6 63 x 10 5 813 490 11 0 12 5 1 33 R88M WP75030L LIG33BJ 91 67 0 85 121 201 4 35 x 10 5 921 490 11 0 12 5 1 5 kW 1 5 R88M WP1K530L L1G05BJ 600 20 3 85 800 60 8 1 54 x 104 353 314 11 6 13 1 1 11 R88M WP1K530L LIG11BJ 273 44 6 85 364 134 2 09 x 10 4 647 490 13 7 15 2 1 21 R88M WP1K530L LIG21BJ 143 80 1 80 190 270 1 98 x 10 1274 882 23 6 25 1 1 33 R88M WP1K530L LIG33BJ 91 126 80 121 353 1 12 x 10 4 1274 882 23 6 25 1 Note 1 T
77. 22 x 1075 784 392 400 W 1 9 RGSFO09C400 333 9 49 83 500 28 5 2 68 x 1075 931 465 1 15 RGSF15C400 200 15 8 83 300 47 6 2 71 x 105 1176 588 E 11 SMARTSTEP Junior Servomotors and Servo Drives with Built in MECHATROLINK II Communications R7M Z R7D ZNL ML2 omnon Connections R E Single phase 200 to 230 VAC 50 60 Hz R7D ZN 1 3 NFB Noise filter a E Ground to 3 100 Q or less o T Main circuit ea tate a l power supply Main circuit 1MC 2 z OFF ON contactor ES Ex 16 O O t AC reactor 5 as 1MC gt O4 2 Surge suppressor Fuse x Note Always install fuses e g Littelfuse for protection ds e Refer to User s Manual Cat No 1554 for details 2 ex Servo error display z SMARTSTEP Junior s Servomotor Servomotor XB I 24 VDC Servo System Features SMARTSTEP Junior Servo Driver CX Drive Motor Selection Program Ground to 100 Q or less External Regeneration Unit Servo Drives Selection Guide Encoder cable Servomotors and Always connect to ground Controllers Position Control Units 24 VDC 24 VIN 5 3 3 eee 12 ALM External latch ic T Nd ES Alarm output signal 1 input EXT1 1 AYAK gt t te z BKIR
78. 2320 3 1 400W 1 21 R88G HPG20A21400PB 143 23 5 86 238 214 66 2 65 2 4 90 x 105 800 2817 3 1 1 33 R88G HPG32A33400PB 91 34 7 81 151 136 97 6 96 2 2 80 x 104 1565 6240 7 8 1 45 R88G HPG32A45400PB 67 47 4 81 111 100 133 0 131 2 2 80 x 104 1718 6848 7 8 Note 1 The values inside parentheses are for 100 V Servomotors Note 2 The Decelerator inertia is the Servomotor shaft conversion value Note 3 The protective structure for Servomotors with Decelerators satisfies IP44 Decelerators for 2 000 r min Servomotors Note 4 The allowable radial load is the value at the LR 2 position Note 5 The standard models have a straight shaft Models with a key and tap are indicated with J at the end of the model number the suffix in the box Rated Efficiency n Gmentary SMENE Decelerator Weight Model speed torque rotation speed torque inedia load load r min N m r min N m kg m N N kg 1 5 R88G HPG32A053K0B 400 20 4 85 600 57 4 3 80 x 10 889 3542 7 3 1 11 R88G HPG32A112K0SB 182 47 3 90 273 133 1 3 40 x 10 1126 4488 7 8 1kW 1 21 R88G HPG32A211K0SB 95 92 3 92 143 259 7 2 90 x 10 1367 5448 7 8 1 33 R88G HPG50A332K0SB 60 144 9 92 91 407 6 4 70 x 104 4135 14300 19 0 1 45 R88G HPG50A451K0SB 44 197 7 92 67 555 9 4 70 x 104 4538 15694 19 0 R88G HPG32A053K0B 400 31 7 89 600 86 8 3 80 x 104 889 3542 7 3
79. 24 5 min 58 8 min 58 8 min 58 8 min t Attraction time 5 ms 100 max 80 max 150 max 150 max 150 max o Release time 5 ms 50 max 25 max 50 max 50 max 50 max 8 Backlash 1 reference value Allowable work per braking J 1176 1372 1372 1372 1372 n Allowable total work J 1 6 x 106 2 9 x 106 2 9 x 106 2 9 x 106 2 9 x 106 PET iela GERI Speed of 900 r min or more PUE changed in less than 10 ms Brake life _ 10 000 000 operations Rating _ Continuous Insulation grade Type F 1 These are the values when the Servomotor is combined with a Servo Drive at room temperature 20 C 65 The maximum momentary torque shown above indicates the standard value 2 Applicable Load Inertia The operable load inertia ratio load inertia rotor inertia depends on the mechanical configuration and its rigidity For a machine with high rigidity operation is possible even with high load inertia Select an appropriate motor and confirm that operation is possible If the dynamic brake is activated frequently with high load inertia the dynamic brake resistor may burn Do not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled 3 The allowable radial and thrust loads are the values determined for a service life of 20 000 hours at normal operating temperatures The allowable radial loads are applied as shown in the following diagram 4 5 racial load Thrust load ALL Center of shaft LR 2 Thi
80. 5 Specifications Specifications Indicates a Servomotor 1 Indicates a Servo Drive 2 Series Z SMARTSTEP Junior Series 7 SMARTSTEP Junior 100 100 W 2 Input signal N Communications type specification 3 Motor capacity 00 2 0 W 01 100 W 400 400 W 750 750 W 3 Maximum output 02 200 W 4 Speed 30 3000 r min capan 0 400W Blank Without a brake 08 750 W 5 Brake B With 24 VDC brake 4 Power supply voltage H 200 VAG 6 Shaft form 51 Straight shaft with key 5 Communications type ML2 MECHATROLINKII communications Servo Drive and Servomotor Combinations Servomotor Servo Drive Rated output Without brake With brake II communications 100 W R7M Z10030 S1 R7M Z10030 BS1 R7D ZNO1H ML2 200W R7M Z20030 S1 R7M Z20030 BS1 R7D ZNO2H ML2 400 W R7M Z40030 S1 R7M Z40030 BS1 R7D ZNO4H ML2 750W R7M Z75030 S1 R7M Z75030 BS1 R7D ZNO8H ML2 E 3 SMARTSTEP Junior AC Servomotors and Servo Drives with Built in MECHATROLINK II Communications HZ M Z R7D ZNLT ML2 Ordering Information omnon AC Servomotors Control Cables for CN1 Cylinder type Motors 3000 r min Specifications Model Specifications Model General purpose Control im R7A CPZ001S R7M Z10030 S1 Cables 2m R7A CPZ002S R7M Z20030 S1 Cables for Connector 1m XW2Z 100J
81. ACOSINE SIN COS ASIN ACOS Finds the sine cosine arcsine or arccosine TANGENT ATANGENT TAN ATAN Finds the tangent or arctangent Functions SQUARE ROOT EXPONENT LOGARITHM SQR EXP LOG Finds the square root exponent or logarithm FRACTION FRAC Finds the decimal portion SIGN SGN 1 if greater than 0 and 1 if negative Bit BIT ON BIT OFF SET RESET Turns a specified bit ON or OFF operations RIGHT SHIFT LEFT SHIFT SFTR SFTL Shifts right or left for the specified number of bits P BCD BIN BIN gt BCD BIN BCD Converts from BCD to binary or from binary to BCD ata operations BLOCK TRANSFER BLOCK XFER CLEAR Transfers or clears a block of data CLEAR SYSMAC CJ CS series MECHATROLINK II compatible Motion Control Units CJ1W MCH71 CS1W MCH71 B 6 Dri Servo System Controller i s D CX Drive New Product Information CER AE Motor Selection Program Features Features Motion Network Lineup Concepts Servomotors and Controllers Position Control Units g 25 25 HO Os OMNUC W OMNUC G SMARTSTEP Junior omnon Dimensions Unit mm CJ1W MCH71 MCH71 1 i unr No l ww legno 1 t d P 65 F 70 9
82. B S1 300 30 gt 7 dia 300 30 21 5 Four Z dia Dimensions of output section of 750 W Servomotors 2 1 ire Dimensions of shaft end with key BS1 5 These are the dimensions for the R88M WU BS1 with key Dimensions mm Flange dimensions Shaft end dimensions Model ds ER Cc D1 D2 F G 2 s QK R88M W20030 B S1 136 Four R88M W40030L B S1 m 30 60 70 50h7 3 6 5 5 dia 14ne 20 R88M W75030L B S1 189 5 40 80 90 70h7 3 8 Four 7 dia 16h6 30 D 41 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WN ML2 3 000 r min Cylinder type Servomotors without a Brake 200 V AC 1 kW 1 5 kW 2 kW 3 kW R88M W1K030H S2 W1K530H S2 W2K030H S2 W3K030H S2 R88M W1K030T S2 W1K530T S2 W2K030T S2 W3K030T S2 KL1 KL2 D2 dia These are the dimensions for the R88M WL omnon Dimensions of shaft end with key S2 Four Z dia QK Kis M8 effective depth 16 S2 with key and tap
83. Block Conversion Unit Symbol 1 Name Servomotor type Model number Description Servomotor connector Tyco Electronics For 3 000 r min Cylinder type its in model Connector cap 350780 1 Servomotors 50 W to 750 W ber indi 2 th ble lenath Connector socket 350689 3 For 3 000 r min Flat type Am zr ps rds ped engin Servomotors 100 W to 750 W Som som Servomotor connector Tyco Electronics AMP R88A CAWBLILIUIS Connector cap 350780 1 imi F The OOD digits in the model Connector socket 350551 6 Connector pins 1 to 3 For 3 000 Flattype number indicate the cable length 350551 3 Connector pin 4 Servomotors 1 5 kW 3m 5m 10m 5m 20m 30 m 40 m 50m Without brake For 3 000 r min Cylinder type R88A CAWCLI IIS Connector cap MS3106B18 10S Daiichi Denshi Kogyo Co Ltd Servomotors 1 kW to 2 kW The OOC digits in the model Cable clamp MS3057 10A Daiichi Denshi Kogyo Co Ltd For 1 500 r min Cylinder type indi 9 Servomotors 450 W to 1 3 kW oo lt For 1 000 r min Cylinder type 30 m 40 50m Servomotors 300 W 900 W For 3
84. CPU Units with unit version 2 0 CS Series new version 511 Unit classification CPU Bus Unit Mounting CPU Rack or CJ series Expansion Rack CPU Rack or CS series Expansion Rack CIO Area for CPU Bus Occupies the area for 1 unit 25 words Unit For units and tasks 11 to 25 words Depending on the number of motion tasks Method for data DM Area for CPU Bus Occupies the area tor 1 unit 100 words transfer with CPU Unit For units and tasks 32 to 74 words Depending on the number of motion tasks Unit Custom Bit Area For axes 0 64 words Depending on the greatest number of the axis used Custom Data Area For axes 0 128 words Depending on the greatest number of the axis used Custom Data Area For General 1 0 0 1280 words Depending on setting Controlled Devices MECHATROLINK II below supported W series Servo Drive with built in communications functions W series Servo Drive OMRON Communications I F Unit YASKAWA e Various I O units YASKAWA Up to 30 nodes When MECHATROLINK II devices are connected up to 16 nodes within 30 or 15 nodes within 50 a repeater unit is not required A repeater unit is required to connect MECHATROLINK II devices more than the cases described above Built in program language Dedicated motion control language Control method MECHATROLINK II Position commands Speed commands Torque commands Control Number of controlled axes 32 axes max
85. CRGA030C R88A CRGA040C R88A CRGAO050C R88A CRGBOO3C Specifications Model R88A CRGBOO5C R88A CRGBO10C 3 000 r min Servomotors of 50 to 750 W with an incremental encoder R88A CRGBO15C 3 000 r min Flat Servomotors of 100 to 400 W with an incremental encoder R88A CRGBO20C R88A CRGBO030C R88A CRGBO40C R88A CRGBO50C R88A CRGCOO3N R88A CRGCOOSN R88A CRGCO10N 3 000 r min Servomotors of 1 to 5 kW 2 000 r min Servomotors of 1 to 5 kW R88A CRGCO15N 1 500 r min Servomotors of 7 5 kW 1 000 r min Servomotors of 900 W to 6 kW R88A CRGCO20N R88A CRGCO30N R88A CRGCO40N R88A CRGCO50N Absolute Encoder Battery Cable NEW Specifications Model Absolute Encoder Battery Cable Battery not included R88A CRGDOR3C Absolute Encoder Battery Cable One R88A BAT01G Battery included e Absolute Encoder Backup Battery Specifications R88A CRGDOR3C BS Model 2 000 mA h 3 6 V OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GN R88A BATO1G 3m R88A CAGA003SR 5m R88A CAGA005SR 10m R88A CAGAO10SR 3 000 r min Servomotors of 50 to 750 W 15m R88A CAGA015SR 3 000 r min Flat Servomotors of 100 to 400 W 20 R88A CAGA020SR 30 R88A CAGA030SR
86. CS series MECHATROLINK II compatible Position Control Unit CJ1 W NCL T71 CS1W NCL 71 4 2 omnon Functions and Performance Specifications Item Specifications Model CJ1W NCL 171 CS1W NCLI71 Applicable PLCs CJ Series CS Series Unit classification CPU Bus Unit Possible unit number settings OtoF Common Operating WO alloca Memory Area Words allocated in CPU Bus Unit Area 25 words 15 output words 10 input words tions Axis Operating Memory Area Allocated in one of the following areas user specified CIO Work Auxiliary Holding DM or EM Area Number of words allocated 50 words 25 output words 25 input words x Highest axis No used Compatible devices OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications OMRON W series Servo Drives equipped with MECHATROLINK II Application Module or built in MECHATROLINK II communications OMNUC W series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications OMRON SMARTSTEP Junior Servo Drives Built in MECHATROLINK II communications Control method Control commands executed using MECHATROLINK II synchronous communications Maximum number of controlled axes 16 axes m 2 147 483 648 to 2 147 483 647 command units The command unit depends on the Electronic Gear Settings in the Position command
87. CS1W NCLI71 CS1W CJ1W NCLI71 MA CJ1W NCL 171 MA CS CJ series MECHATROLINK II compatible Postion Controll Unit User s Manual o W436 SBCE 328 CXONE ALLIIC D V3 Melon Nee Operation Manua a CS1W NCF71 CJ1W NCF71 Ea Sere tee CSIW NCF71 CJIW NCF71 Position Controll Unit ONNUC G series Technical Guide re CS1W NCF71 CJ1W NCF71 45 SBEEUM CS1TW NCF71 CJTW NCF71 Position Controll Unit ONNUC W series Technical Guide SYSMAC CJ CS series MECHATROLINK II compatible Position Control Unit CJ1 W NCL T71 CS1W NCL 71 A 4 omnon SYSMAC CJ CS series MECHATROLINK II compatible Motion Control Units CJ1W MCH71 CS1W MCH71 Improve Equipment Design Efficien cy and Shorten Tact Time Overview Control Servos for up to 16 axes in a motion network with one Position Control Unit that supports MECHATROLINK II See note e Features e High precision motion control with less wiring using MECHATROLINK II Servo communications with superior concurrency e Many synchronization and axis control commands are supported to aid CJ1W MCH71 CS1W MCH71 existing synchronized control applications and improve motion control tact time e Program control commands such as branching commands and various arithmetic operations are supported for maximum motion programming efficiency System Confi gu ration MECHATROLINK II is a registered trademark of the MECHATROLINK Members Association
88. Controllers Position Control Units OMNUC W SMARTSTEP Servo Drives Selection Guide Controllers Motion Control Units Junior omnon AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WNL ML2 Use MECHATROLINK II Communications with the Controller and Save Space e Data Communications with MECHATROLINK II Data communications are used to transfer all control information between the Servo Drive and Controller This enables using the performance of the Servo Motor to the limit because there are no restrictions imposed by the transmission performance of control signals e Acommunications module is built into the Servo Drive thus saving space in the control panel by occupying less than 2 3 of the space required for a MECHATROLINK II Interface Unit mounted to a W series Servo Drive W series Servomotors W series Servomotors can be used as is including Encoder Cables and Power Cables so the System can be upgraded with no need to change the equipment design See note System Configuration Controller Monitor Software CX Drive Motion Control Unit Personal Computer Monitor Software Computer Monitor Cable SYSMAC CJ series PLC IBM PC AT or compatible R88A CCW002P2 CJ1W NC MECHATROLINK II Motion Control Unit MECHATROLINK II Cable With ring core and USB connector on both en
89. Diagrams E 13 z Software to each Servo Motor eyes 15 u Parameter EL Dimensions E 18 Related Manuals E21 au o 5 nh N New Product Information New Functionality and High Performance to Support a Wide Variety of Applications SYSMAC CS Cu Series Position Control Units A 1 MECHATROLINK II for 2 or 4 Axes CJ1W NC271 471 CS1W NC271 471 Models with 2 or 4 axes for absolute encoders and easy programming using familiar ladder diagrams Batch settings and management AR Reduce wiring SYSMAC Cu Series lt Position Control Units MECHATROLINK II f Position Control Unit for 16 axes with 2 axis linear interpolation gt CJ1W NCF71 MA Front 3 AC Servomotors Page OMNUC G Series 1 with Built in MECHATROLINK II R88M G R88D GN ML2 E The OMNUC G Series supports MECHATROLINK II communications Perform control data communications between driver controllers using only one cable Speed response frequency of 1 KHz to suppress Damping control vibration with high speed Resonance control positioning Command control mode switching Bi Linear interpolation is enhanced for et use in conveyor control with 2 axis bilateral movement for large panels such as LCD and plasma Interaxial Deviation Monitor for Linear Interpolation When linear interpolation is used it is possible to monitor the current feedbac
90. Frurd lint P 0T A Traster heck the set value when inputting Rvree limt LOT pod Wite Red Soe Axis communication status z E 45678 o rot twignue ae EN gt o Frequently used ladder programming is provided in each The SAPs include various operating screens for Position Control function block Several function blocks form a library that re a Units Simply paste SAPs to simplify design work and eliminate a i facilitates program and program asset development i unnecessary user programming m s ee te pe ee s Fr A a U S s P pie The OMRON FB Library and Smart Active Parts Library can be used with i u CJ series Programmable Controller CPU Units version 3 0 or later and NS series Programmable Terminals version 6 or later respectively T 3 ing A Single Unit Providing the Position Speed Torque Servomotor Control A Motion Control Unit that Can Control modes are now provided for position synchronization speed and torque control enabling multi axis control with less wiring for a wide variety of applications SYSMAC CS CJ Series Supports 1 Motion Control Units OMNUC W series MECHATROLINK II SMARTSTEP Junior if CS1W MCH71 CJ1W MCH71 i Positioning programs special motion control language Baud rate of 10 Mbps Position control Linear and circular interpolation Synchronous control Electronic gear el
91. OK R7G VRSFPB05C400 OK R7G VRSFPBO05C750P OK R7G VRSFPB09C400 OK R7G VRSFPB09D750P OK 400 W 750 W R7G VRSFPB15C400 OK R7G VRSFPB15D750P OK R7G VRSFPB25D400 OK R7G VRSFPB25E750P OK R7G VRSFPB05C750 OK R7G VRSFPB09D750 OK 750 W R7G VRSFPB15D750 OK R7G VRSFPB25E750 OK AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WNL ML2 D 8 Controller New Product Information Concepts Servo System Servomotors and Controllers CX Drive crea Motor Selection Program Features Features Position Control Units Controllers Motion Network Lineup Motion Control Units OMNUC G SMARTSTEP Junior omnon Power Cable Encoder Cables Specifications 3m Model R88A CAWA003S Specifications Model R88A CRWA003C 5m R88A CAWAO05S 5m R88A CRWA005C For 3000 r min Cylinder 10m _ R88A CAWA010S D type Motors For 3000 r min Cylinder type 10m 15 R88A CAWA015S 50 W to 750 W Motors 50 W to 750 W 15m R88A CRWA015C For Flat t 20m R88A CAWA020S type Motors For Flat type Motors 20m R88A CRWA0
92. R88D WN T T T U 1 r min 500 1000 1500 2000 2500 3000 30 287 Power supply specification 200 V AC 1 500 r min Servomo Model R88M Item tors Item Unit W45015T W85015T W1K315T W1K815T Ambient operating munem T t ti Applicable Servo Drive R88D WNOSH ML2 WN10H ML2 WN15H ML2 WN20H ML2 ee Rated output w 450 850 1300 1800 Ambient operating 20 to 80 humidity with no condensation Rated torque N m 2 84 5 39 8 34 11 5 Ambient storage Rated rotation speed r min 1500 9 20 to 60 temperature Momentary maximum Ambi 5 r min 3000 mbient storage 20 to 80 rotation speed humidity with no condensation Momentary maximum i Nm 8 92 13 8 23 3 28 7 Storage and operating i torque EEO No corrosive gases Rated current A rms 3 8 7 1 10 7 16 7 10 to 2 500 Hz in X Y Momentary maximum gt Z directions with current EMG 11 28 42 r i ERIS acceleration 24 5 m s2 Rotor inertia 7 24 x 10 4 1 39 x 10 3 2 05 10 3 3 17 x 10 3 GD2 4 Acceleration 490 m s2 Torque constant N m A 0 82 0 83 0 84 0 73 Shock resistance max in X Y and Z Power rate kW s 11 2 20 9 33 8 415 directions two mE Mechanical time 1 D 22 Mel poner ine constant n 50 3 Insulation resistance Pranas an Electrical ti 10 MQ min ectrical time at 500 V DC ms 5 1 5 3 6 3 12 8 _ Between power line Allowable radial load N 490 490 686 1176 terminals and FG Die
93. Start Acceleration Time Sets the acceleration time for speed control mode Backlash Compensation Time Constant Sets the backlash compensation time constant for position control Soft Start Deceleration Time Sets the deceleration time for speed control mode Soft Limit Enables or disables the soft limit Speed Limit Selection Sets the speed limit for torque control mode Origin Range Sets the threshold for detecting the origin ZPOINT in absolute values No 1 Torque Limit Sets the No 1 Torque Limit for the Servomotor output torque Linear Acceleration Constant Sets the acceleration for positioning operations No 2 Torque Limit Sets the No 2 Torque Limit for the Servomotor output torque Linear Deceleration Constant Sets the deceleration for positioning operations Positioning Completion Range 1 Sets the positioning completion range when Positioning Completion 1 INP1 Output is selected Speed Conformity Signal Output Width Sets the detection width for the speed conformity detection VCMP signal Rotation Speed for Motor Rotation Detection Sets the threshold level for the speed reached TGON signal Positioning Completion Range 2 Sets the positioning completion range when Positioning Completion 2 INP2 is selected Motor Phase Current Offset Re adjustment Setting Enables or disables the offset component readjustment functi
94. VRSF25B100CJ 78 0 32 52 40 46 60 50 45 10 3 6 1 5 R88G VRSF05B200CJ 72 5 32 52 60 70 60 50 45 10 3 10 1 9 R88G VRSF09C200CJ 89 5 50 78 60 70 90 70 62 17 3 8 1 15 R88G VRSF15C200CJ 100 0 50 78 60 70 90 70 62 17 3 8 1 25 R88G VRSF25C200CJ 100 0 50 78 60 70 90 70 62 17 3 8 1 5 R88G VRSF05C400CJ 89 5 50 78 60 70 90 70 62 17 3 8 1 9 R88G VRSF09C400CJ 89 5 50 78 60 70 90 70 62 17 3 8 T 145 R88G VRSF15C400CJ 100 0 50 78 60 70 90 70 62 17 3 8 1 25 R88G VRSF25C400CJ 100 0 50 78 60 70 90 70 62 17 3 8 1 5 R88G VRSF05C750CJ 93 5 50 78 80 90 90 70 62 17 3 10 1 9 R88G VRSF09D750CJ 97 5 61 98 80 90 115 90 75 18 5 10 und 1 15 R88G VRSF15D750CJ 110 0 61 98 80 90 115 90 75 18 5 10 1 25 R88G VRSF25D750CJ 110 0 61 98 80 90 115 90 75 18 5 10 Note The standard models have a straight shaft with a key Four Z2 effective depth L H LN Z S a T T 4 I si 8 al T omor LM LR 69 OMNUC G series Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNLT ML2 omnon Dimensions mm Key dimensions Model AT L b h 4 4 R88G VRSF05B100CJ 1 5 4 4 R88G VRSF09B100CJ 1 9 50 W 4 4 R88G VRSF15B100CJ 1 15 4 4 R88G VRSF25B050CJ 1 25 4 4 R88G VRSF05B100CJ 1 5 4 4 R88G VRSF09B100CJ 19 ow 4 4 R88G VRSF15B100CJ 1
95. W R88D WN ML2 Parameter Function Selection Parameters from Pn000 omnon Servo Gain Parameters from Pn100 Parameter name Explanation Parameter name Explanation See note 1 Function selection basic Switches Reverse rotation Speed loop Adjusts speed loop response Unit No setting Function selection application switches 1 Stop selection if an alarm occurs when Servomotor is OFF Speed loop integration constant Speed loop integral time constant Position loop gain Adjusts position loop response Stop selection when drive prohibited is input Inertia ratio Set using the ratio between the machine system inertia and the Servomotor rotor inertia AC DC power input selection Function selection application switches 2 Torque command input change during speed control Speed loop gain 2 Adjusts speed loop response enabled by gain Switching input Speed command input change during torque control Speed loop integration constant 2 Speed loop integral time constant enabled by gain switching input Operation switch when using absolute encoder Position loop gain 2 Adjusts position loop response enabled by gain switching input Bias rotational speed Sets position control bias Function selection application switches 6 Analog monitor 1 AM signal selection Analog monitor
96. When a Servomotor with a brake is used it is necessary to use both a Power Cable for Servomotors without brakes and a Power Cable C41 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GN 3m R88A CAGA003S R88A CAGB003B 5m R88A CAGA005S R88A CAGB005B 10 R88A CAGA010S R88A CAGB010B Senonotos of 0 7504 18m REBA GAGAOIES norme ermal oo saw RASA CAGBOIEB 3 000 r min Flat Servomotors of 100 to 400 W 20m R88A CAGA020S 1 000 r min Servomotors of 900 W R88A CAGB020B 30m R88A CAGA030S R88A CAGB030B 40 R88A CAGA040S R88A CAGB040B 50m R88A CAGA050S R88A CAGB050B 3m R88A CAGB003S R88A CAGC003B 5m R88A CAGB005S R88A CAGC005B 10 R88A CAGBO10S R88A CAGC010B 3 000 r min Servomotors of 1 to 1 5 kW 15m R88A CAGBO15S 3 000 r min Servomotors of 2 kW R88A CAGCO15B 2 000 r min Servomotors of 1 to 1 5 kW z 1 000 r min Servomotors of 900 W 20 R88A CAGBO20S 2 000 r min Servomotors of 2 KW R88A CAGCO20B 30 R88A CAGB030S R88A CAGC030B 40 R88A CAGBO40S R88A CAGC040B 50 R88A CAGB050S R88A CAGC050B 3m R88A CAGC003S R88A CAGD003B 5m R88A CAGCO005S R88A CAGD005B 10 R88A CAGCO10S R88A CAGD010B 3 000 r min Servomotors of 2 kW 15 R88A CAGCO15S 3 000 r min Servomotors of 3 to 5 kW R88A CAGD015B 2 0007 Servomolors of 2 kW 20 R88A CAGCO20S TOA E qo KN R88
97. also supported to monitor long term trends for servos and inverters Specification Model a 7 i Basic function Making file Servo Inverter SMARTSTEP2 series with Pulse row output R7D ZNL1 ML2 REW 3G3JV Automatically 7 Detect Drives Workspace file sdw SMARTSTEPA series with Pulse row output R7D AP 3G3MV E d Drive file sdd Drive S OMNUC G series with General purpose Pulse or Analog inputs R88D GT NEW 3G3RV iting i NEN note CX Drive is 3G3RV V1 unctions Monitor review file sdm OMNUC W series with Built in MECHATROLINK II Communications R88D GNC1 ML2 Parameter Editing Foy layar drive ile OMNUC W series with General purpose Pulse or Analog inputs R88D WT of serial 3G3L 1 series Functions s PNN Realtime Tracing csv or txt OMNUC W series with Built in MECHATROLINK II Communications R88D WN ML2 Front 17 uon l s dnaur pomy uoo S NA 3onpojd M N SHUN uonisog 19 01 U0 syun ouo uogow SJ9 03u05 SoJn3eoJ SoJnjeo4 Joiun f Ss1do uo5 d3LSLYVINS D INNWO M INNWO ut 1s s o gt X 49 01 U05 pue sioj owo IES Front 18 Selection
98. axes 32 axes max 30 physical axes 2 virtual 1 UC1 CE Motion Control Unit axes Internal programming language Special motion control 0 80 CS1W MCH71 language 1 license The CX One is a package that integrates the Support Software for Media CD See note CXONE ALO1C V3 CX One FA OMRON PLCs and components CX One runs on the following OS 1 Integrated Tool Package Windows 2000 Service Pack 3a or higher XP or Vista Ver 3 0 CX One Ver 3 includes CX Motion MCH Ver 2 0 1 license Media DVD See CXONE AL01D V3 For details refer to the CX One catalog Cat No R134 notes 1 and 2 1 license Media CD See note WS02 MOPC2 1 Windows 98SE Me NT4 0 Service Pack6a 2000 Service Pack CAM Data Creation Tool or higher or XP Note 1 Site licenses are available for the CX One 3 10 30 or 50 licenses 2 When purchasing the DVD format verify the computer model and DVD drive specifications before purchasing International Standards The standards indicated in the Standards column are those current for UL CSA cULus NK and Lloyd standards and EC Directives as of the end of March 2007 The standards are abbreviated as follows U UL U1 UL Class Division 2 Products for Hazardous Locations C CSA UC cULus UC1 cULus Class Divition 2 Products for Hazardous Locations CU cUL N NK L Lloyd and CE EC Directives e Ask your OMRON representative for the conditio
99. brake r min N m r min N m kg m2 N N kg kg 50 W 1 5 R88M WOS080LHLIGO5BJ 600 0 557 70 800 1 67 3 60 x 10 5 137 127 14 14 1 9 R88M WO5030L LIGO9BJ 333 1 00 70 444 3 01 3 30 x 10 6 206 147 14 17 1 21 88 050300 0 21 143 2 67 80 190 8 01 1 80 x 10 6 235 147 1 6 1 9 1 33 R88M W05030L1 O1G33BJ 91 4 20 80 121 12 6 1 3 x 10 8 235 147 1 6 1 9 100 W 1 5 R88M W10030L1 LIGOSBJ 600 1 27 80 800 3 82 7 76 x 10 6 167 147 1 4 1 7 1 11 88 100300 0 11 273 2 80 80 364 8 40 4 76 x 10 6 216 147 1 7 2 0 1 21 R88M W100300 OG21BJ 143 5 34 80 190 16 0 4 26 x 10 9 392 235 27 3 0 1 33 R88M W10030LHLIG33BJ 91 8 40 80 121 25 2 3 26 x 1079 431 235 27 3 0 200 W 1 5 R88M W20030L1 LIGOSBJ 600 2 55 80 800 7 64 3 35 x 10 5 245 235 3 0 35 1 11 R88M W20030L L G11BJ 273 5 96 85 364 17 9 8 50 10 6 323 235 3 5 4 0 1 21 R88M W20030L HIG21BJ 143 11 4 85 190 34 1 1 10 x 1055 549 294 3 7 4 2 1 33 R88M W2003011 O1G33BJ 91 17 9 85 121 53 6 6 50 x 10 5 608 294 3 8 43 400 W 1 5 R88M W40030L1 LIGOSBJ 600 5 40 85 800 16 2 3 35 x 10 5 245 235 3 6 41 1 11 R88M W40030L L G11BJ 273 11 9 85 364 35 7 1 95 105 441 294 4 3 4 8 1 21 R88M W40030L L G21BJ 143 227 85 190 68 2 1 95 x 105 568 314 47 5 2 1 33 R88M W40030LHLIG33BJ 91 33 5 80 121 101 1 73 x 1055 657 314 7A 76 750 W 1 5 R88M W75030L1 LIGOSBJ 600 10 2 85 800 30 4 5 83 x 10 5 343 294 5 8 6 7 1 11 R88M W75030L L G11BJ 273 22 3 85 364 67 0 5 28
100. brake 400 W R88M WP40030H B With brake R88M WP40030T B 750 W R88M WP75030H B R88M WP75030T B 1 5 kW R88M WP1K530H B R88M WP1K530T B 100 W R88M WP10030H S1 R88M WP10030T S1 200 W R88M WP20030H S1 R88M WP20030T S1 Without brake 400 W R88M WP40030H S1 Without brake R88M WP40030T S1 750 W R88M WP75030H S1 R88M WP75030T S1 Straight shaft 1 5 kw R88M WP1K530H S1 Straight shaft R88M WP1K530T S1 with key 100 W R88M WP10030H BS1 With key R88M WP10030T BS1 200 W R88M WP20030H BS1 R88M WP20030T BS1 With brake 400 W R88M WP40030H BS1 With brake R88M WP40030T BS1 750 W R88M WP75030H BS1 R88M WP75030T BS1 1 5 kw R88M WP1K530H BS1 R88M WP1K530T BS1 See note 3 Model Note 1 The 100 VAC Servomotors cannot be connected Connect a 200 VAC Servomotor even for a 100 VAC Servo Drive 100 W R88M WP10030H W R88M WP10030T W 200 W R88M WP20030H W R88M WP20030T W Without brake 400 W R88M WP40030H W Without brake R88M WP40030T W 750 W R88M WP75030H W R88M WP75030T W Straight shaft 1 5 kw R88M WP1K530H W Straight shaft R88M WP1K530T W without key 100 W R88M WP10030H BW without key R88M WP10030T BW 200 W R88M WP20030H BW R88M WP20030T BW With brake 400 W R88M WP40030H BW With brake R88M WP40030T BW 750 W R88M WP75030H BW R88M WP75030T BW 1 5 kw R88M WP1K530H BW R88M WP1K530T BW 100 W R
101. circuit power supply input External Regeneration Resistor connection terminals s Servomotor connection terminals Frame ground R88D GN75H ML2 Main Circuit Terminal Block Specifications TB1 Name Main circuit power supply input External Regeneration Resistor connection terminals U V W Servomotor connection terminals Frame ground E Main Circuit Terminal Block Specifications TB2 Symbol Name Control circuit power supply input Frame ground Fan Stop Output Display Area A 2 digit 7 segment LED display shows the Servo Drive status alarm codes parameters and other information Analog Monitor Check Pins SP IM and G The actual motor speed command speed torque and number of accumulated pulses can be measured based on the analog voltage level by using an oscilloscope Set the type of signal to be output and the output voltage level by set ting the Speed Monitor SP Selection Pn007 and Torque Monitor IM Selection Pn008 MECHATROLINK II Status LED Indicator Indicates the communications status of the MECHATROLINK II Rotary Switches Sets the node address C 47 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNLT ML2 CN1 Control Input Signals Protective Functions
102. command Electronic Links SYNC This function enables the specified synchronized operation with acceleration at the start of synchronization a ratio during synchroni zation and deceleration at the end of synchronization These specifications are specific for the actual application operation enabling easy achievement of various types of synchronization oper ations Amount of main axis travel during acceleration Amount of Master axis main axis travel during deceleration Slave axis Other Operations Various applications are made possible by means of a wide range of commands such as MOVE TIME MOVET CHANGE TARGET MOVEMODI LATCH LATCH With hardware latch and window functions TRAVERSE MOVETRAV TORQUE TORQUE TORQUER SPEED SPEED SPEEDR B 5 CJ CS series MECHATROLINK II compatible Motion Control Units CJ1W MCH71 CS1W MCH71 Commands omnon Classification Name Command Function MOVE LINEAR INTERPOLATION CIRCULAR INTERPOLATION MOVE MOVEL MOVEC Moves axes individually or using linear or circular interpolation ORIGIN SEARCH DATUM Finds the machine origin according to input signals Axis INTERRUPT INCHING MOVEI Changes the position by inching according to input signals movement MOVE TIME MOVET Positions according to a sp
103. command section Speed Feed forward Amount RT Sets the speed feed forward amount Feed forward Filter Time Constant RT Sets the time constant for the speed feed forward first order lag filter Position Loop Gain 2 RT Sets the position loop gain when using gain 2 Switching Speed Loop Gain 2 RT Sets the speed loop gain when using gain 2 Switching Speed Loop Integration Time Constant 2 RT Sets the speed loop integration time constant when using gain 2 switching Speed Feedback Filter Time Constant 2 RT Sets the speed detection filter when using gain 2 Switching Torque Command Filter Time Constant 2 RT Sets the first order lag filter time constant for the torque command section when using gain 2 Switching Gain Switch Setting RT Sets the trigger for gain switching The details depend on the control mode Gain Switch Time RT Enabled when the Gain Switch Setting Pn031 is set to 3 or 5 to 10 Sets the lag time from the trigger detection to actual gain switching when Switching from gain 2 to gain 1 Gain Switch Level Setting RT Sets the judgment level to switch between Gain 1 and Gain 2 when the Gain Switch Setting Pn031 is set to 3 5 6 9 or 10 The unit for the setting depends on the condition set in the Gain Switch Setting Pn031 Gain Switch Hysteresis Setting RT Sets the hysteresis of the judgment level for the Gain
104. dimensions Cable lead in section Model D1 D2 F G Z s QK b h ti A1 A2 A3 A4 A5 R88M WP100300 S1 62 25 60 70 507 3 6 55 8 14 3 3 18 B 9 70 8 7 14 16 EUM R88M WP40030 S1 87 5 5 3 9 25 R88M WP75030 S1 86 5 s 16h6 R88M WP1K53001 S1 40 120 145 1107 35 10 10 Ho 22 28 38 19 Flat type Servomotors with a Brake 200 V AC 100 W 200 W 400 W 750 W 1 5 kW R88M WP10030H B S1 WP20030H B S1 WP40030H B S1 WP75030H B S1 WP1K530H B S1 R88M WP10030T B S1 WP20030T B S1 WP40030T B S1 WP75030T B S1 WP1K530T B S1 300230 t 1 D2 dia LL These are the dimensions for the R88M WL BS1 with key Dimensions mm Shaft end dimensions Model R88M WP10030 B S1 Cable lead in section D1 1 R88M WP20030 B S1 R88M WP40030 B S1 R88M WP75030 R88M WP1K530 B S1 B S1 A3 A4 A5 Related Manuals English Cat No Japanese Cat No Type Name 1544 SBCE 331 R88M W R88D WNC ML2 OMNUC Wseries AC Servomotors Servo Drives with Built in MECHA
105. during an origin search Zero point return approach speed 2 Sets the speed for finding the origin after the origin proximity input signal turns ON and OFF during an origin search Final travel distance to return to zero point Sets the distance from the phase Z signal or external latch signal 1 EXT1 input position to the origin during an origin search See note 2 Note 1 In the negative direction or when the distance is short the rotation is reversed after dec elerating to a stop 2 In the origin search or reverse direction or when the distance is short the rotation is reversed after decelerating to a stop E 17 SMARTSTEP Junior AC Servomotors and Servo Drives with Built in MECHATROLINK II Communications R7 M Z R7D ZNLT ML2 omnon Dimensions Unit mm AC Servomotors e 100 W Servomotor without Brake e 100 W Servomotor with Brake R7M Z10030 S1 R7M Z10030 BS1 R7M Z10030 S1 Without brake R7M Z10030 BS1 300 Shaft End Dimensions Y tough IK i 1 8 3 300 al 5 lt 2 5 40 JA af 8 dia l _ 7 ET i T 30 94 25 139 25 Two 4 3 dia holes e 200 W 400 W 750 W Servomotors without Brakes
106. e 200 W 400 W 750 W Servomotors with Brakes R7M Z20030 S1 Z40030 S1 Z75030 S1 R7M Z20030 BS1 Z40030 BS1 Z75030 BS1 Dimensions mm LL Flange Shaft end Model ithout brake With brake LR D1 D2 F G 7 s QK R7M Z20030 95 5 135 5 Sees our 5 5 dia RAY m AERE 30 60 70 50 6 14 20 R7M Z75030 133 176 40 80 90 70h8 8 Four 7 dia 166 30 R7M ZL L TL 130 S1 R7M z00030 BS51 Output Section on 750 W Servomotor Shaft End Dimensions i45 RD ee NIE ls 1 P 1 i D2 dia i Sdia D2 dia LL LR p LL LR Mounting hole SMARTSTEP Junior AC Servomotors and Servo Drives with Built in MECHATROLINK II Communications RZM Z R7D ZNLT ML2 E 18 Servomotors and Controllers Controllers GEHE CX Drive Servo System Controller New Product information OMNUC G Motion Control Units Position Control Units CHR E Motor Selection Program Features Features Motion Network Lineup Concepts OMNUC W Junior cc lt AC Servo Drives omnon e 200 VAC 100 W 200 W 400 W R7D ZNO1H ML2 ZNO2H ML2 ZNO4H ML2 00 0000000 4 5
107. for CN3 Symbol Name Contents Length m Model Parameter Unit 1 5 R88A PRO2G Personal Computer Monitor for Windows cable RS232 Communications 2m B86A GGOG002F2 MECHATROLINK II Cable for CN6 Length m OMRON model Number Yasukawa model Nunber Description 0 5m FNY W6003 A5 JEPMC W6003 A5 1 0m FNY W6003 01 JEPMC W6003 01 3 0m FNY W6003 03 JEPMC W6003 03 L MECHATROLINK II Cable 5 0m FNY W6003 05 JEPMC W6003 05 3 7 afl 10m FNY W6003 10 JEPMC W6003 10 C with ferrite core 5 20m FNY W6003 20 JEPMC W6003 20 30m FNY W6003 30 JEPMC W6003 30 eee Termination _ FNY W6022 JEPMC We022 Control Cables for CN1 Connected to Description XW2Z J B33 The empty boxes in the model number are for the cable length The cable can be 1 or 2 m long Connector Termial Block Cables screw type XW2B 20G4 M3 5 screw type XW2B 20G5 screw type XW2D 20G6 Connector Terminal Block Conversion Unit Control Cables Symbol Name Connected to Model Servomoteor Connector for Encoder formoler R88A CNGO1R Cable absolute Encoder Servomoteor Connector for Encoder Cable Incremental Encoder R88A CNG02R Control I O Connector CN1 for drive R88A CNU01C Encoder Connector CN2 R88A CNWO1R Power Cable Connector 750 W max e
108. i 24VDC 1MCV CC Reactor Ground to resistor 100 or less 4 Encoder Cable 24VDC 7 User control device Control Cable 1 Recommended relay MY Relay 24 V by OMRON For example the MY2 Relay s rated inductive load is 2 A at 24 VDC and applicable to all G Series Servomotors with brakes 2 The brake is not affected by the polarity of the power supply 3 Connect B2 B3 for the models with a built in regeneration resistor GNO4L ML2 GNO8H ML2 GN10H ML2 and GN15H ML2 If the amount of regeneration is large disconnect B2 B3 and connect an External Regeneration Resistor to B1 B2 4 The models GNASL ML2 to GNO2L ML2 and GNO1H ML2 to GNO4H ML2 do not have a built in regeneration resistor If the amount of regeneration is large an External Regeneration Resistor must be connected to B1 B2 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNI ML2 C 42 Si tors and A meee CX Drive Servo System Controller New Product Information Conc epts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior omnon R88D GNO8H ML2 GN10H ML2 GN15H ML2 RST Three phase 200 to 240 VAC 50 60 Hz Main circuit contactor ON X Ground to 1 p 1MC 100 o
109. inputs R88D WT MECHATROLINK II Application Module JUSP NS115 4 AC Servo motor v R88M G Sensors limit inputs origin proximity inputs OMNUC G series OMNUC W series SMARTSTEP Junior AC Servo Drive with AC Servo Drives with AC Servo Drives with Built in MECHATROLINK II Built in MECHATROLINK II Built in MECHATROLINK II Communications Communications Communications P R88D GNC ML2 R88D WN ML2 R7D ZNC ML2 once Eroen tah Servo motor R88M G AC Servo motor R88M W AC Servo motor R7M Z JOWONE A 1 SYSMAC CJ CS series MECHATROLINK II compatible Position Control Unit CJ1W NCL 771 CS1W NCT 71 omnon Ordering Information CJ series Units Specifications No of unit Current con patanen Product name numbers sumption A Model Standards Control output interface No of axes allocated 5y 24v Control commands executed by 2 CJ1W NC271 NEW MECHA MECHATROLINK II synchronous cpu TROLINK I communications 4 CJ1W NC471 NEW g Bus Units compatible 16 axes max 1 0 36 UC1 CE Position Direct operation by ladder programming 16 CJ1W NCF71 Control Units Control mode Position control speed control or torque control 16 CJ1W NCF71 MA NEW CS series Units Specifications No of unit Current con Product name numbers sumption A Model Standards Control output inter
110. m 2 84 5 68 8 62 11 5 19 1 temperature Rated rotation speed r min 1000 Ambient storage 20 to 80 Momentary maximum humidity with no condensation rotation speed r min 2000 Storage and operat n ice No corrosive gases Momentary maximum Nem torque 7 7 14 1 19 3 28 0 44 0 10 to 2 500 Hz in X Y Rated t A i and Z directions with ated curren rms 3 0 5 7 7 6 11 6 18 5 Vibration resistance acceleration 24 5 m s Momentary maximum E A rms 73 13 9 16 6 28 42 490 52 am Rotor inertia kgm 724x104 1 39 10 8 205x109 3 17x 108 4 60x 108 shock resistance max iNX Vand z GD 4 directions two times Torque constant N m A 1 03 1 06 1 21 1 03 1 07 Between power line Power rate kW s 11 2 23 2 36 3 41 5 79 4 Insulation resistance terminals FG 10 Mechanical time at 500 V DC constant ms 5 1 3 8 2 8 2 0 1 7 Between power line Electrical time N 7 terminals and FG et ms 5 1 4 7 5 7 13 5 13 9 Dielectric strength 1 500 V AC for 1 min at Allowable radial load N 490 490 686 1176 1470 50 60 Hz Allowable thrust load N 98 98 343 490 490 Run position All directions i Insulation grade Type F Vire kg Approx 5 5 Approx 7 6 Approx 9 6 Approx 14 Approx 18 3 brake Totally enclosed self Weight Structure cooling With brake kg Approx 7 5 Approx 9 6 Approx 12 Approx 19 Approx 23 5 2 IP 67 Excluding Radiati hield di i through shaf
111. min R88M G3K020T 3 kW N m 50 441 2 41 2 2200 Repetitive usage 25 4 R88M G1K520T 1 5 kW N m 20 419 6 19 6 2200 Repetitive usage P g 14 3 1047 15 7 15 Continuous usage 0 1000 2000 3000 r min R88M G4KO020T 4 kW N m 54 9 2000 50 Repetitive usage R88M G2KO020T 2 kW N m 26 5 2200 26 5 Repetitive usage 1519 54 13 2 Continuous usage 0 1000 2000 3000 r min R88M G5KO020T 5 kW N m 70 6 70 6 2000 701 Repetitive usage 35 123 8 14 3 143 25 18 8 18 8 25 0 23 0 Continuous usage 9 5 Continuous usage 12 5 Continuous usage 15 8 0 1000 2000 3000 r min i r min 0 1000 2000 3000 r min 0 1000 2000 3000 r min R88M G7K515T 7 5 kW N m 111 111 1004 100 Repetitive usage 501 48 48 Continuous usage 36 0 1000 1500 2000 r min OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNI ML2 C 32 Si tors and EU CX Drive Servo System Controller New Product information apts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior Servomotor Specifications R88M G omnon Characteristics 1 000 r min Cylindrical Servomotors 200 VAC Input Power
112. of motion control operations are supported from independent axis control to interpolation and synchronized operation New Product Information Motion Network Lineup High speed MECHATROLINK II see note Servo communications are used between the Servo Driver and Distribution Modules enabling multi axis control with less wiring The limit switches and origin sensors required for servo control are input to the Servo Driver further enhancing distributed control in the multi axis system 0 ES co Sl Q Note MECHATROLINK II is a registered trademark of the MECHATROLINK Members Association Easy Information Processing is gt ns By using high speed servo communications motion programs system parameters system data and servo driver e parameters can be set and read from Support Software running on a personal computer 5 Controller constants and variables such as system constants global variables local variables can all be read Equipment control status and servo system operating conditions can be monitored g e Programs and data can be backed up on CPU Unit Memory Cards a Easy Motion Control 4 1 D ENT 5 sus Z e Position control synchronized control electronic gear electronic cam follow up speed control and torque control 8 5 are all supported enabling a wide range of applications BE uo The servo communications cycle can be as short as 1 ms Scheduled
113. per Servomotor rotation Backlash compensation amount Mechanical system backlash amount the mechanical gap between the drive shaft and the shaft being driven Backlash compensation time constant Sets the backlash compensation time constant 1st step 1st torque command filter time constant Sets the filter time constant for internal torque commands Forward torque limit Forward rotation output torque limit rated torque ratio Reverse torque limit Reverse rotation output torque limit rated torque ratio Forward rotation external current limit Output torque limit during input of forward rotation current limit rated torque ratio Reverse rotation external current limit Output torque limit during input of reverse rotation current limit rated torque ratio Emergency stop torque Deceleration torque when an error occurs rated torque ratio Speed limit Sets the speed limit in torque control mode Speed Control rameters from Pn300 Torque command setting Selects notch filter 1 function Selects notch filter 2 function Parameter name Explanation Jog speed Sets rotation speed during jog operation Soft start acceleration time Sets acceleration time during speed control soft start Soft start deceleration time Sets deceleration time during speed control soft start Notch filter 1 frequency Sets notch filte
114. processing for Motion Controllers Servo Drivers and Distribution Modules enable consistent high precision control Fight motion tasks can be used to execute motion programs simultaneously Branched execution is possible within FE programs so both independent control and control involving multiple axes such as interpolation and S E synchronization can be achieved in one programming scheme 8 Global variables enable easily sharing data between tasks Also system variables can be used to monitor and use servo status within programs 55 FE os Os o Function Upgrades from Unit Version 3 0 to 3 1 2 z e Restarting after Restoration After data has been restored from the CPU Unit s flash memory the Unit is restarted using a bit between A50100 and A50115 in the Auxiliary Area of the CPU Unit Expanded Bank Switching for Interpolation Acceleration Deceleration Times z The acceleration time and deceleration time used for interpolation operations can be set separately Internal Overrides The feed rate when the following commands executed be changed from a motion program Connecting to SMART STEP Junior Servo Drives eo Ei Front 10 CX Motion MCH Support Software Version 2 2 Creating and transferring CS1W CJ1W MCH71 data is easy with the CX Motion MCH New motion program debugging trial operation jogging origin search etc and data trace funct
115. r min servomotors 2K0 2 kW 3 kW Backlash 4KO 4 kW B 4K5 4 5 kW 5 kW Option 6KO 6 kW Blank Straight shaft 7K5 7 kW J With key and tap Backlash z 15 Max Decelerator for H88G VRSFO09B100PCJ G Series Servomotors Backlash 15 Max Gear Ratio 05 1 5 09 1 9 15 1 15 25 1 25 Flange Size Number B 052 C 178 D 11098 Applicable Servomotor Capacity 050 50W 100 100 W Motor Type 200 200 W Blank 3 000 r min cylindrical servomotors 400 400 W flat servomotors 750 750 W Backlash C 15 J With key OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GN ML2 omnon 4 S tors and Bre CX Drive Servo System Controller New Product Information Concepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior Ordering Information omnon Servo Drives NEW Specifications Model 50 W R88D GNASL ML2 100W R88D GNO1L ML2 Single phase 100 VAC 200W R88D GNO2L ML2 400W R88D GNO4L ML2 50 W R88D GNO1H ML2 100W Single phase 200 VAC 200W R88D GNO2H ML2 400W R88D GNO4H ML2 750W R88D GNO8H ML2 1 kw R88D GN10H
116. registered trademark of the MECHATROLINK Members Association 2 When a Servomotor with an absolute encoder is used a separate battery cable is required for the absolute encoder For details refer to D 14 Page Motion Network Lineup Concepts New Product Information Controller Features AC Servo Drive Terminal Block Conversion Unit and Cable signals Drives Servo System Features Power Cables See note Standard Cables Without Brakes 1 16 R88A CAW S With Brakes R88A CAW B CX Drive Motor Selection Program Robot Cables Without Brakes R88A CAW SR AC Servo Motors With Brakes R88A CAW BR Without Decelerators R88D WNO01H ML2 R88D WNO4H ML2 Servomotors and Servo Drives Selection Guide R88M W05030H R88M W75030T B Power signals s Feedback signals Controllers Position Control Units Encoder Cables See note Standard Cables R88A CRWA C R88A CRWB N Robot Cables R88A CRWA CR R88D WN10H ML2 R88A CRWB NR B CoH 107 R88M WP75030H R88M WS3K030H With Decelerators Backlash 3 arcminutes max Backlash 45 arcminutes max Controllers Motion Control Units OMNUC G Note The illustrations shown here are examples only Note The illustrations
117. series Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNI ML2 C 64 S tors and meee CX Drive Servo System Controller New Product Information Concepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior omnon 2 000 r min Cylindrical Servomotors e Backlash 3 Arcminutes Max Dimensions mm Model LM LR C1 c2 D1 D2 D3 D4 D5 1 2 1 5 R88G HPG32A053K0B 107 133 120 130X130 135 145 115 114 84 98 12 5 35 1 11 R88G HPG32A112K0SB 107 133 120 130X130 135 145 115 114 84 98 12 5 35 1 kW 1 21 R88G HPG32A211K0SB 107 133 120 130X130 135 145 115 114 84 98 12 5 35 1 33 R88G HPG50A332K0SB 123 156 170 170 dia 190 145 165 163 122 103 12 0 53 1 45 R88G HPG50A451K0SB 123 156 170 170 dia 190 145 165 163 122 103 12 0 53 1 5 R88G HPG32A053K0B 107 133 120 130X130 135 145 115 114 84 98 12 5 35 1 11 R88G HPG32A112K0SB 107 133 120 130X130 135 145 115 114 84 98 12 5 35 1 21 R88G HPG50A213K0B 123 156 170 170 dia 190 145 165 163 122 103 12 0 53 1 33 R88G HPG50A332K0SB 123 156 170 170 dia 190 145 165 163 122 103 12 0 53 1 5 R88G HPG32A053K0B 107 133 120 130X130 135 145 115 114 84 98 12 5 35 1 11 R88G HPG32A112K0SB 107 133 120 130X130 135 145 115
118. shown here are examples only Decelerator For absolute encoder 30 cm R88A CRWC0R3C Backlash 3 arcminutes max Peripheral Devices R7G VRSFPB AC Reactor R88A PX I L I 1 Not required when the battery is External Regeneration Resistor connected 1o Ma R88A RR022047S c a F e t 5 lt 5 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WNL ML2 D 2 Interpreting Model Numbers omnon AC Servomotors without Decelerator AC Servomotors with Decelerator R88M W R88M W UG 1 2 4 5 6 78 9 1 23 4 5 67 8 910 No Item Symbol Specifications No Item Symbol Specifications 1 Indicates a Servomotor 1 Indicates a Servomotor 3 Series w W Series 2 Series w W Series Blank Cylinder Blank Cylinder 4 Type 3 Type Flat Flat 050 50 W 050 50W 4 Motor capacity 100 100 W 4 Motor capacity 100 100W 1KO 1 kW 1KO 1kW 10 1000 r min 10 1000r min 5 Speed 15 1500 r min 5 Speed 15 1500r min 30 3000 r min 30 3000r min H 200 VAC with incremental encoder H 200 VAC with incremental encoder 6 Power supply voltage 6 Power supply voltage T 200 VAC wit
119. standard cable and a 200 VAC input R88M G05030H T 50 W N m N m N m 05 1045 045 1 0 40 93 0 93 2 0 1 78 1 78 4500 Repetitive usage m Repetitive usage Repetitive usage 1 5 0 254 0 16 0 16 gt 10 32 0 32 1 045 64 Continuous usage 0 1 Continuous usage 0 28 Continuous usage 0 38 O 1000 2000 3000 4000 5000 O 100 2000 3000 4000 5000 1000 2000 3000 4000 5000 r min r min r min R88M G40030H T 400 W R88M G75030H T 750 W R88M G1K030T 1 kW N m N m N m 4 0136 3 6 3800 8 0 7 05 7 05 3600 1019 1 9 1 4000 Repetitive usage Repetitive usage ad Repetitive usage 2 04 17 40124 24 513 18 3 18 48 Continuous usage 0 78 1 0 Continuous usage O 1000 2000 3000 4000 5000 O 1000 2000 3000 4000 5000 O 1000 2000 3000 4000 5000 r min r min r min R88M G1K530T 1 5 kW R88M G2K030T 2 kW R88M G3K030T 3 kW N m N m N m 412 9 12 9 3500 30 27 0 27 0 3400 20418 4 18 4 3600 Repetitive usage ECKE Repetitive usage 7 51 1519 54 9 54 a 1016 36 6 36 5 5 Continuous usage 3 6 6 0 Continuous usage r 2 Continuous usage 0 1000 2000 3000 4000 5000 r r 0 1000 2000 3000 4000 5000 r min 0 1000 2000 3000 4000 5000 r min r min R88M G4K030T 4 kW R88M G5K030T 5 kW N m N m 40 4 36 3 37 9 50 445 1 47 6 Repetitive usage Repetitive usage 20 112 6 12 6 251158 15 8 isd Continuous usage 10 0 Continuous usage 0 1000 2000 3000
120. storage humidity 20 to 80 with no condensation Storage and operating atmosphere No corrosive gases Vibration resistance 10 to 2 500 Hz with a 0 2 mm double amplitude or acceleration of 24 5 m s whichever is smaller in the X Y and Z directions Shock resistance 98 m s max twice in vertical direction Insulation resistance 10 MQ min at 500 VDC between the power terminals and FG terminal Dielectric strength 1 500 VAC 50 or 60 Hz for 1 minute between the power terminals and FG terminal Operating position Any direction Insulation class Type B Construction Totally enclosed self cooling Degree of protection IP55 excluding the through shaft portion Vibration class V 15 Mounting method Flange mounting International standards EC Directives EMC Directive EN 55011 Class A Group1 EN61000 6 2 Low Voltage Directive 60034 1 5 8 and 9 EN 60034 1 and 9 UL standards UL1004 cUL standards cUL C22 2 No 100 Characteristics Servomotor model Item Applicable Servo Drives R7D Z10030 S1 220030 51 240030 51 275030 51 ZNO1H ML2 ZNO2H ML2 ZNO4H ML2 ZNO8H ML2 Rated output w 100 200 400 750 Rated torque N m 0 318 0 637 1 27 2 39 Rated rotation speed r min 3000 Max momentary spee
121. to 327 67 Setting unit 0 01 can be specified for each axis or task B 3 SYSMAC CJ CS series MECHATROLINK II compatible Motion Control Units CJ1W MCH71 CS1W MCH71 omnon Item Specifications Number Up to 8 tasks and 256 programs Unit parallel branches with tasks 8 task max number of programs Program numbers 0000 to 0499 Main programs for motion tasks 9 0500 to 0999 Sub programs for motion tasks 2 Mbytes Program capacity 8000 blocks max unit by motion program conversion Number of blocks 800 blocks program 2 Program m o Data capacity Position data 10 240 points Unit Cam data 32 max 16 000 points Unit Sub program nesting 5 levels max Start Starts program operation from program of another task SA Deceleration stop Executes deceleration stop regardless of block E Block stop Executes deceleration stop at the end of the block currently being executed t Single block mode The program is executed one block at a time t es Saving programs and data Memory Card backup in CPU Unit 100 000 times max Self diagnostic function Watchdog RAM check etc Error detection function Deceleration stop input unit number error CPU Unit error software limit over errors etc 5 Error log function The error log is to be read from the CPU Unit by means of the IORD instructions as needed 2 External power supply voltage 24 V D
122. to saving space in the control E B2 panel EE Note MECHATROLINK II is a registered trademark of the MECHATROLINK Members Association 2 z HE AC Servo Driver Terminal Block Conversion Unit and Cable MEE a 1 0 signals Power Cables Servomotor Power Cables R7A CAZOLILIS without a brake R7A CAZOLILIB with a brake Servo System Features CX Drive Motor Selection Program Servomotor Servomotors and Servo Drives Selection Guide Motor power and feedback signals Encoder Cable R7A CRZO Controllers Position Control Units 8 A Controllers Motion Control Units 2 z Peripheral Devices Decelerators AC Reactor Backlash 3 arcminutes max T R88A PX5 R7G VRSFPB 3 Backlash 45 arcminutes max 2 External Regeneration Resistor R7G RGSE R88A RG08UA Junior Lu lt 7 SMARTSTEP Junior AC Servomotors and Servo Drives with Built in MECHATROLINK II Communications R7 M Z R7D ZNLT ML2 E 2 omnon Interpreting Model Numbers AC Servomotors AC Servo Drives R7M Z R7D ZN ML2 1 2 3 4 5 6 1 2 3 4
123. with a key and tap is indicated by adding S2 to the end of the model number OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNI ML2 C 60 S tors and paca yay CX Drive Servo System Controller new product niomaton Concepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior omnon Decelerators 3 000 r min Cylindrical Servomotors Backlash 3 Arcminutes Max Dimensions mm Model LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2 1 5 R88G HPG11A05100B 39 5 42 40 40x40 46 46 40 0 39 5 29 27 2 2 15 1 9 R88G HPG11A09050B 39 5 42 40 40x40 46 46 40 0 39 5 29 27 2 2 15 50 W 1 21 R88G HPG14A21100B 64 0 58 60 60x60 70 46 56 0 55 5 40 37 2 5 21 1 33 R88G HPG14A33050B 64 0 58 60 60x60 70 46 56 0 55 5 40 37 2 5 21 1 45 R88G HPG14A45050B 64 0 58 60 60x60 70 46 56 0 55 5 40 37 2 5 21 1 5 R88G HPG11A05100B 39 5 42 40 40x40 46 46 40 0 39 5 29 27 2 2 15 1 11 R88G HPG14A11100B 64 0 58 60 60x60 70 46 56 0 55 5 40 37 2 5 21 100 W 1 21 R88G HPG14A21100B 64 0 58 60 60x60 70 46 56 0 55 5 40 37 2 5 21 1 33 R88G HPG20A33100B 66 5 80 90 55 dia 105 46 85 0 84 0 59 53 7 5 27 1 45 R88G HPG20A45100B 66 5 80 90 55 dia 105 46 85 0 84
124. zo 25 80 130 18 M8x25 M8 110 22 14 9 0 M16 35 R88G HPG65A253K0SB 1 25 16 50 82 14 M10x25 M6 70 14 9 5 5 M10 20 R88G HPG50A054K0SB 1 5 16 50 82 14 M10x25 M6 70 14 9 5 5 M10 20 R88G HPG50A114K0SB 1 11 25 80 130 18 M10x25 M8 110 22 14 9 0 M16 35 R88G HPG65A204K0SB 1 20 i 25 80 130 18 M10x25 M8 110 22 14 9 0 M16 35 R88G HPG65A254K0SB 1 25 16 50 82 14 M12x25 M6 70 14 9 5 5 M10 20 R88G HPG50A055K0SB 1 5 16 50 82 14 M12x25 M6 70 14 9 5 5 M10 20 R88G HPG50A115K0SB 1 11 25 80 130 18 M12x25 M8 110 22 14 9 0 M16 35 R88G HPG65A205K0SB 1 20 ud 25 80 130 18 M12x25 M8 110 22 14 9 0 M16 35 R88G HPG65A255K0SB 1 25 25 80 130 18 M12x25 M8 110 22 14 9 0 M16 35 R88G HPG65A057K5SB 1 5 25 80 130 18 M12x25 M8 110 22 14 9 0 M16 35 R88G HPG65A127K5SB 1 12 1 This is the set bolt Key and Tap Dimensions QK a b Y y depth L OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNI ML2 C 66 Concepts New Product Information Motion Network Lineup Controller Features CX Drive Servo System Features Motor Selection Program Servomotors and Servo Drives Selection Guide Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior omnon 1 000 r min Cylindrical Servomotors e Backlash 3 Arcminutes Max
125. 0 R88G HPG11A05100B R88G HPG14A11100B R88G HPG14A21100BL R88G HPG20A33100B R88G HPG20A45100B R88M G20030 R88G HPG14A05200B R88G HPG20A21200B R88G HPG20A33200B R88G HPG20A45200B R88M G40030 R88G HPG14A05400B R88G HPG144A11200B R88G HPG20A11400BL R88G HPG20A21400BL R88G HPG32A33400B R88G HPG32A45400B R88M G75030 R88G HPG20A05750B R88G HPG20A11750BL R88G HPG32A21750B R88G HPG32A33750B R88G HPG32A45750B R88M G1K030T R88G HPG32A051KOBL R88G HPG32A111KOBLI R88G HPG32A211K0BLI R88G HPG32A331K0BL R88G HPG50A451KO0BC1 R88M G1K530T R88G HPG32A052KO0B Also used with R88M G2K030T R88G HPG32A112KO0B Also used with R88M G2K030T R88G HPG32A21 1K5B R88G HPG50A332K0B Also used with R88M G2K030T R88G HPG50A451K5B R88M G2K030T R88G HPG32A052K0B R88G HPG32A1 12KOB R88G HPG50A21 2KOB R88G HPG50A332K0B R88M G3K030T R88G HPG32A053K0B R88G HPG50A113KOB R88G HPG50A213KOB R88M G4K030T R88G HPG32A054K0BL R88G HPG50A1 15KOBC Also used with R88M G5K030T R88M G5K030T R88G HPG50A055K0B 3 000 r min Flat Servomotors R88G HPG50A115
126. 0 5000 Rated torque 1 0 16 0 32 0 64 1 3 2 4 3 18 4 77 6 36 9 54 12 6 15 8 Rated rotation speed r min 3000 Max momentary rotation speed r min 5000 4500 5000 4500 Max momentary torque 1 N m 0 45 0 90 1 78 3 67 7 05 9 1 12 8 18 4 27 0 36 3 45 1 Rated current 1 A rms 1 1 1 1 1 6 2 6 4 7 2 9 4 13 18 6 24 7 28 5 Max momentary current 1 A rms 3 4 3 4 4 9 7 9 12 1 21 4 28 5 40 57 1 75 85 7 Rotor inertia EU 25 10 511x109 1 4x105 26x105 8 7 x105 1 69x 104 2 59 x 10 3 46 x 10 6 77 x 10 1 27 x 103 1 78 x 103 20times Applicable load inertia _ 30 times the rotor inertia 2 cad 15 times the rotor inertia max max Torque constant 1 N m A 0 14 0 19 0 41 0 51 0 64 0 44 0 51 0 48 0 51 0 51 0 57 Power rate 1 kW s 10 4 20 1 30 3 62 5 66 60 88 117 134 125 140 Mechanical time constant ms 1 56 11 0 71 0 52 0 45 0 78 0 54 0 53 0 46 0 51 0 46 Electrical time constant ms 0 7 0 79 2 6 3 46 6 7 10 10 8 20 20 20 Allowable radial load 3 N 68 68 245 245 392 392 490 490 490 784 784 Allowable thrust load 3 N 58 58 98 98 147 147 196 196 196 343 343 e Without brake kg it s Br m ii ic s bol Appro Appro bora t With brake kg id erus Approx ee io dl Appo run ps Radiation shield dimensions material 100x80xtt0 A 180 120 112 170x160xti2 300 380 x 350 x t30 Al Al Al 130 Al 120 Al Applicable Servo Drives R88D GNO1H GNO1H GNO2H GNO4H GNO8H GN15H GN15H G
127. 0 59 53 7 5 27 1 5 R88G HPG14A05200B 64 0 58 60 60x60 70 46 56 0 55 5 40 37 2 5 21 1 11 R88G HPG14A11200B 64 0 58 60 60x60 70 46 56 0 55 5 40 37 2 5 21 200W 1 21 R88G HPG20A21200B 71 0 80 90 89 dia 105 70 85 0 84 0 59 53 7 5 27 1 33 R88G HPG20A33200B 71 0 80 90 89 dia 105 70 85 0 84 0 59 5 7 5 27 1 45 R88G HPG20A45200B 71 0 80 90 89 dia 105 70 85 0 84 0 59 53 7 5 27 1 5 R88G HPG14A05400B 64 0 58 60 60x60 70 70 56 0 55 5 40 37 2 5 21 1 11 R88G HPG20A11400B 71 0 80 90 89 dia 105 70 85 0 84 0 59 53 7 5 27 400W 1 21 R88G HPG20A21400B 71 0 80 90 89 dia 105 70 85 0 84 0 59 53 7 5 27 1 33 R88G HPG32A33400B 104 0 133 120 122 dia 135 70 115 0 114 0 84 98 12 5 35 1 45 R88G HPG32A45400B 104 0 133 120 122 dia 135 70 115 0 114 0 84 98 12 5 35 1 5 R88G HPG20A05750B 78 0 80 90 80x80 105 90 85 0 84 0 59 53 7 5 27 1 11 R88G HPG20A11750B 78 0 80 90 80x80 105 90 85 0 84 0 59 53 7 5 27 750 W 1 21 R88G HPG32A21750B 104 0 133 120 122 dia 135 90 115 0 114 0 84 98 12 5 35 1 33 R88G HPG32A33750B 104 0 133 120 122 dia 135 90 115 0 114 0 84 98 12 5 35 1 45 R88G HPG32A45750B 104 0 133 120 122 dia 135 90 115 0 114 0 84 98 12 5 35 1 5 R88G HPG32A051K0B 104 133 120 122 dia 135 100 115 114 84 98 12 5 35 1 11 R88G HPG32A111K0B 104 133 120 122 dia 135 100 115 114 84 98 12 5 35 1kW 1 21 R88G HPG32A211K0B 104 133 120 122 dia 135 100 115 114 84 98 12 5 35 1 33 R88G HPG32A331K0B 104 133 120 122 dia 135 100 115 114 84 98 12 5 35 1 45 R88G HPG50A451K0B 123 156 170 170 d
128. 00 W R88M W20030H S1 400 W R88M W40030H S1 75 OW R88M W75030H S1 1 kw R88M W1K030H S2 1 5 kW R88M W1K530H S2 2kW R88M W2K030H S2 3 kW R88M W3K030H S2 With brake 50 W R88M W05030H BS1 100 W R88M W10030H BS1 200 W R88M W20030H BS1 400 W R88M W40030H BS1 750 W R88M W75030H BS1 1 kw R88M W1K030H BS2 1 5 kW R88M W1K530H BS2 2kW R88M W2K030H BS2 3 kW R88M W3K030H BS2 50 W R88M W05030T S1 100 W R88M W10030T S1 200 W R88M W20030T S1 400 W R88M W40030T S1 Without brake 750 W R88M W75030T S1 1 kw R88M W1K030T S2 1 5 kw R88M W1K530T S2 2 kW R88M W2K030T S2 Straight shaft kw R88M W3K030T S2 with key 50 W R88M W05030T BS1 100 W R88M W10030T BS1 200 W R88M W20030T BS1 400 W R88M W40030T BS1 With brake 750 W R88M W75030T BS1 1 kw R88M W1K030T BS2 1 5 k W R88M W1K530T BS2 2 kW R88M W2K030T BS2 3 kw R88M W3K030T BS2 Note 1 The 100 VAC Servomotors cannot be connected Connect a 200 VAC Servomotor even for a 100 VAC Servo Drive 2 An S1 suffix indicates models with a key but no tap An S2 suffix indicates models with both a key and tap For Servomotors of 1 kW or more there are no S1 or S3 D 5 models AC Servomotors and Servo Drives OMNUC W Series with Built in ME
129. 00 W 180 W Aluminum 600 x 600 Rated output 250 VAC 0 2 A max Thickness 3 0 24 VDC 0 2 A max C 39 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GN Reactor Specifications Reactor Servo Drive Reactor type Model Rated current Inductance Weight R88D GNA5L ML2 R88D GN01H ML2 3G3AX DL2002 1 6A 21 4mH Approx 0 8 kg Single phase R88D GNO1L ML2 R88D GNO2H ML2 3G3AX DL2004 3 2A 10 7 mH Approx 1 0 kg Single phase R88D GNO2L ML2 R88D GN04H ML2 3G3AX DL2007 6 1A 6 75 mH Approx 1 3 kg Single phase R88D GNO4L ML2 R88D GNO8H ML2 3G3AX DL2015 9 3A 3 51 mH Approx 1 6 kg Single phase R88D GN10H ML2 R88D GN15H ML2 3G3AX DL2022 13 8 2 51 mH Approx 2 1 kg Single phase R88D GNO8H ML2 R88D GN10H ML2 2025 10 0 2 8 mH Approx 2 8 kg Three phase R88D GN15H ML2 R88D GN20H ML2 R88D GN30H ML2 3G3AX AL2055 20 0 A 0 88 mH Approx 4 0 kg Three phase R88D GN50H ML2 3G3AX AL2110 34 0 A 0 35 mH Approx 5 0 kg Three phase R88D GN75H ML2 3G3AX AL2220 67 0 A 0 18 mH Approx 10 0 kg Three phase ML2 omnon R88A PRO2G Parameter Unit Specifications General Specifications Specifications Operating ambient temperature 0 to 55 Operating ambient humidity 90 max with no condensation Storage ambient temperature 20 to 80 C Storage ambient humidity 90 max with no condensa
130. 00 W to 2 kW For 3 000 r min Cylinder style For 1 500 r min Cylinder style Servomotors 450 W to 1 8 kW For 1 000 r min Cylinder style R88A CRWB N The digits in the model 3 m 5 m 10m 15 20 30m 40m 50m number indicate the cable length Servomotor connector Daiichi Denshi Kangyo Co Ltd Connector socket MS3106B20 29S Cable clamp MS3057 12A Servo Drive connector Molex Japan Co Ltd Connector plug 55101 0006 Crimp terminal 50639 8091 T L Er Servomotor connector Molex Japan Co Ltd Connector socket 54280 0600 Absolut Encoder Servomotors with absolute R88A CRWCOR3C Servo Drive connector Molex Japan Co Ltd Battery Cable encoders Connector plug 55101 0600 3 Crimp terminal 50639 8091 Backup R88A BATO1W Battery One Battery R88A BATO1W is included Note Please refer to page 9 for details MECHATROLINK II Cables CN6 Note When ordering Yaskawa products through OMRON please use the OMRON model numbers Symbol Name Remarks OMRON model number See note Yaskawa model number 0 5 FNY W6003 A5 JEPMC W6003 A5 1 0m FNY W6003 01 JEPMC W6003 01 MECHATROLINK II Cabl 3 0 FNY W6003 03 JEPMC W6003 03 4 Yaskawa Electric Sonoran 5 0 FNY W6003 05 JERMCSWODOS 0b 10m FNY W6003 10 JEPMC W6003 10 20m
131. 000 r min Cylinder type R88A CAWDLI IIS cap MS3106B22 22S Daiichi Denshi Kogyo Co Ltd Servomotors kW The OOC digits in the model Cable clamp MS3057 12A Daiichi Denshi For 1 500 r min Cylinder type number indicate the cable length A Servomotors 1 8 kW 3m 5m 10m 15m 20 For 1 000 r min Cylinder type 30m 40m 50m 2 Servomotors 1 2 kW to 2 kW k j Servomotor connector Tyco Electronics AMP KK i R88A CAWA B Connector cap 350781 1 The OON digits the model Connector socket 350689 3 number indicate the cable length For 3 000 r min Flat type 3m 5m 10m i5m 20m Servomotors 100 W to 750 W 30 m 40 m 50 m Servomotor connector Tyco Electronics AMP KK or Connector cap 350781 1 ae m im Ge model Connector socket 350551 6 Connector pins 1 to 3 For 3 000 r min Flat type ber indi Si th ble length 350551 3 Connector pin 4 Servomotors 1 5 kW number indicate the cable length 5 10 15 20 30m 40m 50m E With brake NS For 3 000 r min Cylinder type Servomotors 1 kW to 2 kW For 1 500 r min Cylinder type Servomotors 450 W to 1 3 kW For 1 000 r min Cylinder type Servomotors 300 W to 900 W R88A CAWCLILILIB The OOL digits in the model number indicate the cable length 3m 5m 10m 15m 20 30 m 40 m 50m Connector cap MS3106B20 15S Daiichi Denshi Kogyo Co Ltd Cable clamp MS3057 124A Daiichi Denshi Kog
132. 00100 BS2 223 103 201 22 6 6 3 5 R88M W1K210 BS2 217 79 195 40 01 R88M W2KO010L BS2 243 79 165 251 146 88 180 200 114 305 230 32 18 13 5 35 60 10 8 5 M12 25 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WNL ML2 D 44 S tors and Teos Drives CX Drive Servo System Controller New Product Information Concepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC G SMARTSTEP Junior Flat type Servomotors without a Brake 200 V AC 100 W 200 W 400 W 750 W 1 5 kW R88M WP10030H S1 WP20030H S1 WP40030H S1 WP75030H S1 WP1K530H S1 R88M WP10030T S1 WP20030T S1 WP40030T S1 WP75030T S1 WP1K530T S1 300430 B dia omnon 5 13_ Y 300 30 Y 1 iq E 5 Dimensions of shaft end with key S1 lt R ht gt 8 1 8 QK ti ja ILE Four 2 dia LL LR These are the dimensions for the R88M WL1 S1 with key Dimensions mm LL LR Flange dimensions Shaft end
133. 00W 750 750W 900 900W 1K0 1 kw 1K5 1 5 kW 2K0 2 kW 3 kW 4K0 4 kW Rated Rotation Speed 4K5 4 5 kW 10 1 000 r min 5K0 5 kW 15 1 500 r min 6KO 6 kW 20 2 000 r min 7K5 7 5 kW 30 3 000 r min Applied Voltage H 200 VAC with incremental encoder specifications L 100 VAC with incremental encoder specifications T 200 VAC with absolute encoder specifications S 100 VAC with absolute encoder specifications Option Blank Straight shaft B With brake With oil seal 52 With key and tap C 3 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNLT ML2 Understanding Decelerator Model Numbers Backlash 3 Max R88G HPG14A05100PBJ Decelerator for G Series Servomotors Backlash 3 Max Flange Size Number 11A 1140 14A 160 20 L190 32A L1120 50A 1170 65 1230 Gear Ratio 05 1 5 09 1 9 only frame number 11 11 1 11 except frame number 65 12 1 12 only frame number 65 20 1 20 only frame number 65A 21 1 21 except frame number 65A 25 1 25 only frame number 65A 33 1 33 45 1 45 Applicable Servomotor Capacity 050 50W 100 100W 200 200W 400 400 W Motor Type 750 750 W Blank 3 000 r min cylindrical servomotors 900 900 W P flat servomotors 1K0 1 kW S 2 000 r min servomotors 1K5 1 5 kW T 1 000
134. 030T B R88M GP10030T BS2 200 V 200 W R88M GP20030T B R88M GP20030T BS2 400 W R88M GP40030T B R88M GP40030T BS2 Note Models with oil seals are also available PIJIN 2 000 r min Cylindrical Servomotors Specifications Model Note 1 Models with oil seals are also available Note 2 The rated rotation speed for 7 5 kW Servomotors is 1 500 r min UL pending Straight shaft Straight shaft with key and tap 1kW R88M G1K020T R88M G1K020T S2 1 5 kW R88M G1K520T R88M G1K520T S2 2 kW R88M G2K020T R88M G2K020T S2 200 V 3kW R88M G3K020T R88M G3K020T S2 2 4 R88M G4K020T R88M G4K020T S2 5 kW R88M G5K020T R88M G5K020T S2 7 5 kW R88M G7K515T R88M G7K515T S2 1kW R88M G1K020T B R88M G1K020T BS2 1 5 kW R88M G1K520T B R88M G1K520T BS2 E 2kW R88M G2K020T B R88M G2K020T BS2 200 V 3 kW R88M G3K020T B R88M G3K020T BS2 4 kW R88M G4K020T B R88M G4K020T BS2 5 kW R88M G5K020T B R88M G5K020T BS2 7 5kW R88M G7K515T B R88M G7K515T BS2 C 7 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNLT ML2 omnon NEEJ INe 1 000 r min Cylindrical Servomotors Specifications Model Straight shaft Straight shaft with key and tap Note Models with oil seals are also available UL pending OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Comm
135. 09 5 1 x 10 14x 105 2 6x 105 GD 4 Applicable load inertia _ 30 times the rotor inertia max Torque constant 1 N m A 0 14 0 19 0 26 0 28 Power rate 1 kW s 10 4 20 1 30 3 62 5 Mechanical time constant ms 1 56 1 11 0 72 0 55 Electrical time constant ms 0 7 0 8 2 5 2 9 Allowable radial load N 68 68 245 245 Allowable thrust load 3 N 58 58 98 98 Weight Without brake kg Approx 0 3 Approx 0 5 Approx 0 8 Approx 1 2 With brake kg Approx 0 5 Approx 0 7 Approx 1 3 Approx 1 7 Radiation shield dimensions material 100 x 80 x t10 Al 130 x 120 x 112 Al Applicable Servo Drives R88D GNASL ML2 GNO1L ML2 GNO2L ML2 GNO4L ML2 Brake inertia cur 2x107 2x107 1 8 106 1 8 10 Excitation voltage 4 24 VDC 5 Power consumption at 20 C w 7 9 9 Current consumption at 20 C A 0 3 0 3 0 36 0 36 2 Static friction torque N m 0 29 min 0 29 min 1 27 min 1 27 min 2 Attraction time 5 ms 35 max 35 max 50 max 50 max o 5 Release time 5 ms 20 max 20 max 15 max 15 max 8 Backlash 1 reference value Allowable work per braking J 39 2 39 2 137 137 n Allowable total work J 4 9 x 108 4 9 x 103 44 1 x 108 44 1 x 108 els Speed of 2 800 r min changed in less than 10 ms Brake life _ 10 000 000 operations Rating _ Continuous Insulation grade _ Type B These are the values when the Servomotor is combined with a Servo Drive at room temperature 20 C 65 T
136. 0L LIGO9BJ 333 70 6 80 444 212 7 80 x 104 1960 3000 36 39 1 20 R88M W3K030L L1G20BJ 150 157 80 200 470 2 02 x 10 3 6080 6370 56 58 5 1 29 R88M W3K030L LIG29BJ 103 227 80 138 682 1 84 x 10 3 6860 7350 56 58 5 1 45 R88M W3K030LI LIG45BJ 67 353 80 89 1058 9 70 10 4 8040 8830 56 58 5 owable radial loads are measured at a point 5 mm from the end of the shaft for 30 750 W Servomotors and the center of the shaft for 1 5 kW ML2 D 26 S tors and Drives CX Drive Servo System Controller New Product Information Concepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC G SMARTSTEP Junior omnon 3 000 r min Flat style Servomotors with Standard Decelerators 100 W to 1 5 kW Rated Rated Ratio Decelera Allowable Allowable m MALA Model speed torque CRUCERO tor inertia radial load thrust load en r min N m 96 r min N m kg m2 N N kg kg 100 W 1 5 R88M WP10030L1 LIGOS5BJ 600 1 27 80 800 3 82 9 39 x 10 6 167 147 1 5 17 1 11 R88M WP10080L HL IG11BJ 273 2 80 80 364 8 40 4 79 x 10 6 216 147 1 5
137. 0T R88G HPG50A332K0SB R88M G3K020T R88G HPG32A054K0BL Also used with R88M G4KO030T R88G HPG50A1 15KO0BC Also used with R88M G5K030T R88G HPG50A213KO0SBl R88G HPG65A253K0SB R88M G4K020T R88G HPG50A054K0SBI R88G HPG50A114K0SBI 1 R88G HPG65A204K0SBI R88G HPG65A254K0SB R88M G5K020T R88G HPG50A055KO0SB 1 R88G HPG50A115K0SBI R88G HPG65A205K0SBI R88G HPG65A255K0SB R88M G7K515T R88G HPG65A057K5SBI R88G HPG65A127K5SBI 1 1 000 r min Cylindrical Servomotors Motor model 1 5 1 11 1 12 for flange size No 65 1 20 for flange size No 65 1 21 1 33 1 25 for flange size No 65 R88M G90010T R88G HPG32A05900TB R88G HPG32A11900TBL R88G HPG50A21900TBL R88G HPG50A33900TB R88M G2K010T R88G HPG32A052K0TB R88G HPGS50A112KOTBI R88G HPG50A212KOTBL R88G HPG65A255K0SB Also used with R88M G5K020T R88M G3K010T R88G HPG50A055KOSBLI Also used with R88M G5K020T R88G HPG50A115KO0SB Also used with R88M G5K020T R88G HPG65A205KOSBLI Also used with R88M G5K020T R88G HPG65A255K0SB Also used with R88M G5K020T R88M G4K510T R88G HPG50A054K5TB Also used with R88M G7K51 R88G HPG65A127K5SBl 5T R88G HPG65A204K5TB 1 R88M G6K010T R88G HPG65A05
138. 0T B ver R88M GP40030L B R88M GP40030H B ns R88M GP40030S B R88M GP40030T B M Note The standard models have a straight shaft A model with a key and tap is indicated by adding S2 to the end of the model number Encoder connector Motor connector 4 LR 220 S Four Z dia eI S dia Height 6 D2 dia height 7 Brake connector KL1 y gt B Dimensions of shaft end h key and tap M depth L C 57 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNLT ML2 omnon 2 000 r min Cylindrical Servomotors 200 1 kW 1 5 kW ABS R88M G1K020T S2 R88M G1K520T S2 R88M G1K020T B S2 R88M G1K520T B S2 R88M G1K020T Servomotor brake connector LL 058 130 130 connector 12 6 IL Four 9 dia Dimensions of shaft end with key and tap 45 22 dia height 6 R88M G1K520T R88M G1K020T B 175 R88M G1K520T B 200 Note The standard models have a straight shaft A model with a key and tap is indicated by add
139. 1 0 955 3500 0 8 4 1 5 4 1 3 Repetitive usage iti 0 6 Repetitive usage 1 0 4 0 4 4 0 318 0 318 0 639 0 639 02 0 209 0 5 0 419 Continuous usage Continuous usage T T T T 1 r min T T T T r min 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 R7M Z40030 S1 400 W R7M Z75030 S1 750 W N m N m 4 0 3 82 3 82 8 0 4 7 16 7 16 3 0 4 6 0 4 5 5 Repetitive usage 2 6 Repetitive usage 2 04 4 0 4 1 27 1 27 2 39 2 39 1 04 0 825 2 0 4 Continuous usage Continuous usage 1 45 T T T T 1 r min T T T T r min 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 SMARTSTEP Junior AC Servomotors and Servo Drives with Built in MECHATROLINK II Communications RZM Z R7D ZNL I ML2 E 10 Servomotors and Controllers Controllers CE CX Drive Servo System Controller New Product information OMNUC G Motion Control Units Position Control Units E Motor Selection Program Features Features Motion Network Lineup Concepts OMNUC W Junior cc lt 7 Decelerator Specifications R7G VRSF omnon Standard Models and Specifications Backlash 3 Arcminutes Max R Maximum Maximum Allowable Allowable Motor Ratio momentary momentary 2199 radial thrust e d CeT eio Mss Gen speed torque speed torque inertia load load r min N m r min N m kg m N N 1 5 VRSFPBO5
140. 1 25 R88G VRSF25B100PCJ 78 0 32 52 60 70 60 50 45 10 3 8 1 5 R88G VRSF05B200PCJ 72 5 32 52 80 90 60 50 45 10 3 12 1 9 R88G VRSF09C200PCJ 89 5 50 78 80 90 90 70 62 17 3 12 T 145 R88G VRSF15C200PCJ 100 0 50 78 80 90 90 70 62 17 3 12 1 25 R88G VRSF25C200PCJ 100 0 50 78 80 90 90 70 62 17 3 12 1 5 R88G VRSF05C400PCJ 89 5 50 78 80 90 90 70 62 17 3 12 1 9 R88G VRSF09C400PCJ 89 5 50 78 80 90 90 70 62 17 3 12 1 15 R88G VRSF15C400PCJ 100 0 50 78 80 90 90 70 62 17 3 12 1 25 R88G VRSF25C400PCJ 100 0 50 78 80 90 90 70 62 17 3 12 Note The standard models have a straight shaft with a key E3 F Four Z1 Um Four Z2 effective depth L gum d E d 2 do o 2 De st OQ s o e a ju yt C1xC1 LM LR C 71 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNLT ML2 omnon Dimensions mm Key dimensions Model AT L b h 4 4 R88G VRSFOSB100PCJ 1 5 4 4 R88G VRSFO9B100PCJ 1 9 100 W 4 4 R88G VRSF15B100PCJ 1 15 4 4 R88G VRSF25B100PCJ 1 25 4 4 R88G VRSF05B200PCJ 1 5 6 6 R88G VRSFO9C200PCJ 1 9 200 W 6 6 R88G VRSF15C200PCJ 1 15 6 6 R88G VRSF25C200PCJ
141. 1 30 x 104 833 1280 16 18 1 9 R88M W60010L L1G09BJ 111 40 9 80 222 82 5 9 00 x 1075 980 1570 16 18 1 20 R88M W60010L1 L G20BJ 50 90 9 80 100 226 4 70 x 104 2650 4220 33 35 1 29 R88M W60010L1 L G29BJ 34 132 80 69 327 2 80 x 104 2940 4900 33 35 1 45 R88M W60010L L G45BJ 22 204 80 44 508 4 50 x 10 4 8040 8830 53 55 900 W 1 5 R88M W90010L L1G05BJ 200 34 5 80 400 77 2 3 40 x 104 833 1280 18 20 4 1 9 R88M W90010L L1G09BJ 111 62 1 80 222 139 4 80 x 104 1960 3000 35 374 1 20 R88M W90010L L1G20BJ 50 138 80 100 309 6 90 x 104 2650 4220 35 374 1 29 R88M W90010L1 LG29BJ 34 200 80 69 448 1 04 x 10 3 6860 7350 55 574 1 45 R88M W90010L LG45BJ 22 310 80 44 695 6 70 x 104 8040 8830 55 574 1 2 kW 1 5 R88M W1K2100 OG05BJ 200 46 0 80 400 112 1 02 x 10 1670 1960 32 37 1 9 R88M W1K210L LIGO9BJ 111 82 8 80 222 202 7 80 x 104 1960 3000 39 44 1 20 R88M W1K210L L G20BJ 50 184 80 100 448 2 02 x 10 3 6080 6370 59 64 1 29 R88M W1K210L LG29BJ 34 267 80 69 650 1 84 x 10 3 6860 7350 59 64 1 45 R88M W1K210CT C G45BJ 22 414 80 44 1008 9 70 x 10 4 8040 8830 59 64 2kw 1 5 R88M W2K010L LJG05BJ 200 76 4 80 400 176 1 02 x 0 3 1670 1960 36 41 5 1 9 R88M W2K010 1 CIGO9BJ 111 138 80 222 317 7 80 x 10 4 1960 3000 43 48 5 1 20 R88M W2K010L LG20BJ 50 306 80 100 704 2 02 x 10 3 6080 6370 63 68 5 Note 1 The Decelerator inertia is the Servomotor shaft conversion value 2 The degree of protection for Servomotors with Decelerators is
142. 1 signal multiplier selection Bias addition band Sets the position control bias operation start using deviation counter pulse width Function selection application switches 7 Analog monitor 2 NM signal selection Feed forward amount Position control feed forward compensation value Analog monitor 2 signal multiplier selection Function selection application switches 8 Lowered battery voltage alarm warning selection Feed forward command filter Sets position control feed forward command filter Warning detection selection AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WN Speed control setting P control switching conditions Speed control loop switching Position loop control method P control switching torque command Sets level of torque command to switch from PI control to P control P control switching speed command Sets level of speed command to switch from PI control to P control P control switching acceleration command Sets level of acceleration command to switch from PI control to P control P control switching deviation pulse Sets level of deviation pulses to switch from PI control to P control Normal autotuning Switches Normal autotuning method Speed feedback compensation function selection Speed feedback compensating gain Adjusts sp
143. 11 10 25 42 9 0 4 10 4 36 8 7 4 0 M6 12 R88G HPG20A21200B 1 21 200 W 10 25 42 9 0 M4x10 M4 36 8 7 4 0 M6 12 R88G HPG20A33200B 1 33 10 25 42 9 0 M4x10 M4 36 8 7 4 0 M6 12 R88G HPG20A45200B 1 45 8 16 28 5 5 M4x10 M4 25 5 5 3 M4 8 R88G HPG14A05400B 1 5 10 25 42 9 0 M4x10 M4 36 8 7 4 0 M6 12 R88G HPG20A11400B 1 11 10 25 42 9 0 4 10 4 36 8 7 4 0 M6 12 R88G HPG20A21400B 1 21 400 W 13 40 82 11 0 4 10 4 70 12 8 5 0 M10 20 R88G HPG32A33400B 1 33 13 40 82 11 0 M4x10 M4 70 12 8 5 0 M10 20 R88G HPG32A45400B 1 45 10 25 42 9 0 M5x10 M4 36 8 7 4 0 M6 12 R88G HPG20A05750B 1 5 10 25 42 9 0 M5x12 M4 36 8 y 4 0 M6 12 R88G HPG20A11750B 1 11 13 40 82 11 0 5 12 6 70 12 8 5 0 M10 20 R88G HPG32A21750B 1 21 750 W 13 40 82 11 0 M5x12 M6 70 12 8 5 0 M10 20 R88G HPG32A33750B 1 33 13 40 82 11 0 M5x12 M6 70 12 8 5 0 M10 20 R88G HPG32A45750B 1 45 13 40 82 11 M6x12 M6 70 12 8 5 0 M10 20 R88G HPG32A051K0B 1 5 13 40 82 11 M6x12 M6 70 12 8 5 0 M10 20 R88G HPG32A111K0B 1 11 13 40 82 11 M6x12 M6 70 12 8 5 0 M10 20 R88G HPG32A211K0B 1 21 1kW 13 40 82 11 M6x12 M6 70 12 8 5 0 M10 20 R88G HPG32A331K0B 1 33 16 50 82 14 M6x10 M6 70 14 9 5 5 M10 20 R88G HPG50A451K0B 1 45 13 40 82 11 M8x10 M6 70 12 8 5 0 M10 20 R88G HPG32A052K0B 1 5 13 40 82 11 M8x10 M6 70 12 8 5 0 M10 20 R88G HPG32A112K0B 1 11 13 40 82 11 8 10 6 70 12 8 5 0 M10 20 R88G HPG32A211K5B 1 21 1 5 kW 16 50 82 14 M8x10 M6 70 14 9 5 5 M10 20 R88G HPG50A332K0B 1 33 16 50 82 14 M8x10 M6 70 14 9 5 5 M10 20 R88G HPG50
144. 11 R88G HPG14A11100B 273 2 63 75 454 7 39 6 00 x 10 68 280 1119 1 04 100 1 21 R88G HPG14A21100B 143 5 40 80 238 15 2 5 00 x 106 340 1358 1 04 1 33 R88G HPG20A33100B 91 6 91 65 151 19 4 6 50 x 105 916 3226 2 4 1 45 R88G HPG20A45100B 67 9 42 65 111 26 5 6 50 x 105 1006 3541 2 4 1 5 R88G HPG14A05200B 600 2 49 78 1000 6 93 2 07 x 105 221 883 1 02 1 11 R88G HPG14A11200B 273 6 01 85 454 16 7 1 93 x 105 280 1119 1 09 200 W 1 21 R88G HPG20A21200B 143 10 2 76 238 28 5 4 90 x 105 800 2817 2 9 1 33 R88G HPG20A33200B 91 17 0 81 151 47 4 4 50 x 105 916 3226 2 9 1 45 R88G HPG20A45200B 67 23 2 81 111 64 6 4 50 x 105 1006 3541 2 9 1 5 R88G HPG14A05400B 600 5 66 87 1000 16 0 15 7 2 07 x 105 221 883 1 09 1 11 R88G HPG20A11400B 273 11 7 82 454 33 1 32 5 5 70 x 105 659 2320 2 9 400W 1 21 R88G HPG20A21400B 143 23 5 86 238 66 5 65 2 4 90 x 105 800 2547 2 9 1 33 R88G HPG32A33400B 91 34 7 81 151 98 2 96 3 6 20 x 105 1565 6240 7 5 1 45 R88G HPG32A45400B 67 47 4 81 111 133 9 131 4 6 10 x 105 1718 6848 7 5 1 5 R88G HPG20A05750B 600 9 94 838 1000 29 2 6 80 x 105 520 1832 2 9 1 11 R88G HPG20A11750B 273 23 2 88 454 68 1 6 00 x 105 659 2320 3 1 750W 1 21 R88G HPG32A21750B 143 42 3 84 238 124 3 3 00 x 10 4 1367 5448 7 8 1 33 R88G HPG32A33750B 91 69 7 88 151 204 7 2 70 x 104 1565 6240 7 8 1 45 R88G HPG32A45750B 67 95 0 88 111 279 2 2 70 x 10 1718 6848 7 8 1 5 R88G HPG32A051K0B 600 11 5 72 1000 32 9 3 90 x 104 889 3542 7 3 1 11 R88G HPG32A111K0B 273 28 9 83
145. 114 84 98 12 5 35 oo 1 21 R88G HPG50A213K0B 123 156 170 170 dia 190 145 165 163 122 103 12 0 53 1 33 R88G HPG50A332K0SB 123 156 170 170 dia 190 145 165 163 122 103 12 0 53 1 5 R88G HPG32A054K0B 129 133 120 130X130 135 145 115 114 84 98 12 5 35 1 11 R88G HPG50A115K0B 149 156 170 130X130 190 145 165 163 122 103 12 0 53 uds 1 21 R88G HPG50A213K0SB 149 156 170 130X130 190 145 165 163 122 103 12 0 53 1 25 R88G HPG65A253K0SB 231 222 230 130X130 260 145 220 214 168 165 12 0 57 1 5 R88G HPG50A054K0SB 149 156 170 180x180 190 165 165 163 122 103 12 0 53 1 11 R88G HPG50A114K0SB 149 156 170 180x180 190 165 165 163 122 103 12 0 53 1 20 R88G HPG65A204K0SB 231 222 230 180x180 260 165 220 214 168 165 12 0 57 1 25 R88G HPG65A254K0SB 231 222 230 180x180 260 165 220 214 168 165 12 0 57 1 5 R88G HPG50A055K0SB 149 156 170 180x180 190 200 165 163 122 103 12 0 53 1 11 R88G HPG50A115K0SB 149 156 170 180x180 190 200 165 163 122 1038 12 0 5 1 20 R88G HPG65A205K0SB 231 222 230 180x180 260 200 220 214 168 165 12 0 57 1 25 R88G HPG65A255K0SB 231 222 230 180x180 260 200 220 214 168 165 12 0 57 1 5 R88G HPG65A057K5SB 184 5 222 230 180x180 260 200 220 214 168 165 12 0 57 Lou 1 12 R88G HPG65A127K5SB 254 5 222 230 180x180 260 200 220 214 168 165 12 0 57 Note The standard models have a straight shaft with a key A model with a key and tap is indicated by adding J to the end of the model number
146. 167 204 80 333 64 2 9 40 x 105 980 1570 14 16 1 20 R88M W45015T L1G20BJ 75 45 4 80 150 143 4 66 x 104 2650 4220 31 33 1 29 R88M W45015T L1G29BJ 52 65 9 80 103 207 2 76 x 104 2940 4900 31 33 1 45 R88M W45015T LIG45BJ 33 102 80 67 321 1 81x 104 3430 5690 31 33 850 W 1 5 R88M W85015T LIGOSBJ 300 21 6 80 600 55 2 1 30 x 104 883 1280 16 18 1 9 R88M W85015T LIGO9BJ 167 38 8 80 333 74 5 9 00 x 105 980 1570 16 18 1 20 R88M W85015T L1G20BJ 75 86 2 80 150 221 4 70 x 104 2650 4220 33 35 1 29 R88M W85015T L1G29BJ 52 125 80 103 320 2 80 x 104 2940 4900 33 35 1 45 R88M W85015T L1G45BJ 33 194 80 67 497 4 50 x 104 8040 8830 53 55 1 3kW 1 5 R88M W1K315T LIGOSBU 300 33 4 80 600 93 2 7 20 x 104 1670 1960 28 30 4 1 9 R88M W1K315T LIGO9BJ 167 60 0 80 333 168 4 80 x 104 1960 3000 35 37 4 1 20 R88M W1K315T LiG20BJ 75 133 80 150 373 6 90 x 104 2650 4220 35 37 4 1 29 R88M W1K315T L G29BJ 52 193 80 103 541 1 04 x 10 3 6860 7350 55 574 1 45 R88M W1K315T LIG45BJ 33 300 80 67 839 6 70 x 104 8040 8830 55 57 4 1 8kW 1 5 R88M W1K815T LIGOSBJ 300 46 0 80 600 115 1 02 x 10 3 1670 1960 32 37 1 9 R88M W1K815T LIGO9BJ 167 82 8 80 333 207 7 80 x 10 4 1960 3000 39 44 1 20 R88M W1K815T L1G20BJ 75 184 80 150 459 2 02 x 10 3 6080 6370 59 64 1 29 R88M W1K815T L G29BJ 52 267 80 103 666 1 34 10 6860 7350 59 64
147. 1G25CJ 120 50 7 85 200 152 7 05 x 10 5 2058 1029 10 6 11 5 Note 1 The Decelerator inertia indicates the Servomotor shaft conversion value 2 The degree of protection for Servomotors with Decelerators is IP44 3 The allowable radial loads are measured in the center of the shaft AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WNL ML2 D 28 S tors and d Seria Drives CX Drive Servo System Controller New Product Information Concepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC G SMARTSTEP Junior omnon 3 000 r min Flat style Servomotors with Economy Decelerators 100 to 750 W Note 1 The Decelerator inertia indicates the Servomotor shaft conversion value 2 The degree of protection for Servomotors with Decelerators is IP44 3 The allowable radial loads are measured in the center of the shaft Rated Rated Ratio iih Decelera Allowable Allowable Wm Lx Model speed torque rr else iyan temu tor inertia radial load thrust load pau Pd r min N m r min N m kg m N N kg kg 100W 1 5 R88M WP10030LI LJGOSCJ 600 1 19 75 1000 3 58 1 60 x 10 5 392 196 1 42
148. 200 230 V AC 170 to 253 V AC 50 60 Hz Loc fout supply R88D WNCIL ML2 Single phase 100 115 V AC 85 to 127 V AC 50 60 Hz R88D WNLIH ML2 50 W to 400 W B1 G R88D WNCIL ML2 50 W to 400 W External This terminal does not normally need to be connected If regenerative energy is B2 regeneration high connect an External Regeneration Resistor between B1 and B2 There is no resistance B3 terminal connection R88D WNLOH ML2 500 W to 3 0 kW terminal Short circuit between B2 and B3 If regenerative energy is high remove the short B3 bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2 U Red Servomotor White w connection Blue These are the terminals for outputs to the Servomotor terminals Green Yellow Frame ground This is the ground terminal AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WNL ML2 D 32 New Product Information Concepts Motion Network Lineup Controller Servomotors and Controllers CX Drive Servo System it Motor Selection Program Features Features Position Control Units Controllers Motion Control Units OMNUC G SMARTSTEP Junior omnon CN1 Control Inputs Pin No Signal Name Function and interfac
149. 200 90 2 95 400 196 1 4 90 x 10 4 889 3542 8 9 1 11 R88G HPG50A112K0TB 90 198 4 94 182 430 9 8 40 x 104 2974 10285 20 1 AE 1 21 R88G HPG50A212K0TB 47 320 0 95 95 786 8 6 50 x 104 3611 12486 20 1 1 25 R88G HPG65A255K0SB 40 446 7 94 80 971 1 2 81 x 103 7846 28654 55 4 1 5 R88G HPG50A055K0SB 200 133 9 94 400 282 9 1 10 x 103 2347 8118 22 0 1 11 R88G HPG50A115K0SB 90 246 0 95 182 684 0 8 40 x 104 2974 10285 23 5 SK 1 20 R88G HPG65A205K0SB 50 534 7 94 100 1129 2 2 85 x 103 7338 26799 55 4 1 25 R88G HPG65A255K0SB 40 669 9 94 80 1411 5 2 81 x 103 7846 28654 55 4 1 5 R88G HPG50A054K5TB 200 203 5 95 400 479 2 1 20 x 103 2347 8118 22 0 4 5 kW 1 12 R88G HPG65A127K5SB 83 485 6 94 166 1142 9 2 02 x 102 6295 22991 52 0 1 20 R88G HPG65A204K5TB 50 813 1 95 100 1915 0 1 92 x 102 7338 26799 52 0 BAN 1 5 R88G HPG65A057K5SB 200 268 1 94 400 609 7 2 07 x 10 2 4841 17681 48 0 1 12 R88G HPG65A127K5SB 83 650 3 95 166 1477 3 2 02 x 102 6295 22991 52 0 1 Rated torque indicates the allowable rated torque for the decelerator Do not exceed this value Note 1 The Decelerator inertia is the Servomotor shaft conversion value Note 2 The protective structure for Servomotors with Decelerators satisfies IP44 Note 3 The allowable radial load is the value at the LR 2 position Note 4 The standard models have a straight shaft Models with a key and tap are indicated with J at the end of the model number the suffix in the box
150. 20C 100 W to 750 W 30m R88A CAWA030S 100 W to 1 5 kW R88A CRWA030C 40m R88A CAWAO40S 30 8 7 50m R88A CAWA050S 40 m R88A CRWA040C 3m R88A CAWBOO3S 50 m R88A CRWAOS0C 5m R88A CAWBOO5S R88A CRWBOOSN 10 R88A CAWBO10S 5 R88A CRWBOOSN For Flat type Motors 15m R88A CAWB015S ee ae ER 10m R88A CRWBO10N SKW 20 R88A CAWB020S For 1500 r min Cylinder type 15m R88A CRWBO15N E 30 m R88A CAWB030S Motors 450 W to 1 8 KW 20m R88A CRWBO20N ower 40m R88A CAWB040S For 1000 t min Cylinder type 30 R88A CRWBO30N Cables for 50m R88A CAWB050S Motors 300 W to 2 kW Servomotors 3m R88A CAWCOO3S 40m R88A CRWBO40N without For 1000 r min Cylinder T R88A CRWBOSON Brakes type Motors 5m R88A CAWCOO5S 50m 300 W to 900 W 10 R88A CAWCO10S Absolute Encoder Battery Cable 30 cm CN 15m R88A CAWC015S Backup Batt R88A BATOIW dS WD SR 20m R88A CAWCO20S ey For 3000 r min Cylinder 30 m R88A CAWC030S Note 1 One R88A BAT01W Battery is included type Motors 1 kW to 2 40m R88A CAWC040S 2 All of the cables can be used for both incremental and absolute encod kW F ers RSSA CAWC050S 3 If the cable must be bent use a Robot Cable for the Encoder Cable 3m R88A CAWD003S Refer to the tables on the following pages For 1000 r min Cylinder 5m R88A CAWDOO5S type Motors 10m R88A CAWDO10S External Regeneration Resistor 1 2 kW to 2 kW Sah For1500 r mi
151. 2H ML2 WN04H ML2 WN08H ML2 WN15H ML2 Rated output w 100 200 400 750 1500 Rated torque N m 0 318 0 637 1 27 2 39 4 77 Rated rotation speed r min 3000 Momentary maximum rotation speed 5000 Momentary maximum torque N m 0 955 1 91 3 82 7 16 14 3 Rated current A rms 0 89 2 0 2 6 44 7 5 Momentary maximum A rms 2 8 6 0 8 0 13 9 23 0 current Rotor inertia Kaum 4 91 x 10 9 1 93 x 105 3 31 x 105 2 10 x 104 4 02 x 10 4 GD 7 4 Torque constant N m A 0 392 0 349 0 535 0 641 0 687 Power rate kW s 20 6 21 0 49 0 27 1 56 7 Mechanical time constant ms 0 53 0 54 0 36 0 66 0 46 Electrical time constant ms 3 7 7 4 8 6 18 22 Allowable radial load N 78 245 245 392 490 Allowable thrust load N 49 68 68 147 147 Weight Without brake kg Approx 0 7 Approx 1 4 Approx 2 1 Approx 4 2 Approx 6 6 With brake kg Approx 0 9 Approx 1 9 Approx 2 6 Approx 5 7 Approx 8 1 Radiation shield dimensions material t6 x 0250 Al t12 x 11300 AI Applicable load inertia 25x 15x 7 5 5 Brake inertia QUE 2 9 x108 1 09 x 10 5 1 0 x 10 5 8 75 x 105 8 75 x 105 Excitation voltage 24 VDC 10 tion at 20 C w 6 5 7 6 7 5 10 Bie Vn ec UD A 0 25 0 21 0 32 0 31 0 42 fica MM Static fiction N m 0 4 min 0 9 min 1 9 min 3 5 min 7 1 min tions torque Attraction time ms 20 max 20 max 60 max 20 max 20 max Release time ms 40 max 40 max 20 max 40 max 40 max Backlash 1 reference value Rating Continuous Insulation grade
152. 30 40 or 50 m long 70 L 12 7 dia 37 3 dia Servomotor Connector Straight plug N MS3106B20 18S Japan Aviation Electronics Industry Ltd Cable clamp N MS3057 12A Japan Aviation Electronics Industry Ltd Cylindrical Servomotors 3 000 r min 3 to 5 kW Cylindrical Servomotors 2 000 r min 3 to 5 kW Cylindrical Servomotors 1 000 r min 2 to 4 5 kW R88A CAGDi BR The empty boxes in the model number are for the cable length The cable can be 3 5 10 15 20 30 40 or 50 m long II EZ 43 7 dia Servomotor Connector Straight plug N MS3106B24 11S Japan Aviation Electronics Industry Ltd Cable clamp N MS3057 16A Japan Aviation Electronics Industry Ltd ML2 C 18 Si tors and MORS CX Drive Servo System Controller new product informatio Concepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior omnon Brake Cables Symbol Name Connected to Model Description Cylindrical Servomotors R88A CAGA B Servomotor Connector
153. 3K030 5 6 5 S 750 w R88M W75030 s o o o o Note 1 A circle indicates that the combination is possible A blank indicates heed that it is not possible Note A circle indicates that the combination is possible A blank indicates that 2 The Decelerator shaft has a key it is not possible Economy Decelerators Backlash Approx 45 min Decelerator Gear ratio Motor capac Model 1 5 1 9 1 15 1 25 Y LIGO5CJ DIG09CJ TJG15CJ 0925 R88M W05030 50 W p w R88M W10030 B B 5 S00 W ResM W200308 5 B UN m Ream W75030 b o 1 pe Note 1 A circle indicates that the combination is possible A blank indicates that it is not possible 2 The Decelerator shaft has a key D 11 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WNL ML2 omnon 3000 r min Flat type Servomotors 100 W to 1 5 kW Standard Decelerators Backlash 3 Arcminutes Max 1000 r min Cylinder type Servomotors 300 W to 2 kW Decelerator Gear ratio Motor Decelerator Gear ratio capac Model 1 5 1 11 1 21 1 33 ity 05
154. 4 5 See note 4 3 3 koj ays 5 5 510 2 8t04 5 V User control device MECHATROLINK II cable AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WNL ML2 Encoder See notes 3 and 5 puede 3 ALM i 1 ESQ 4 ALMCOM ono Maximum m 1 Brake operating LNG 2 SO1 7 interlock voltage di BKIRCOM output 30 VDC See note 1 9 502 Maximum General purpose output 2 output current 50 803 General purpose output 3 A Encoder A phase A Outputs 4B Encoder B phase outputs Z Encoder Z phase z outputs oFG Frame ground Line driver output EIA RS422A conforming Load resistance 220 min D 30 Si tors and A OST meee CX Drive Servo System Controller New Product Information Concepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC G SMARTSTEP Junior omnon Three phase 200 to 230 V AC Note 1 Set by user parameter Pn50F 2 Connect pin Nos 14 and 15 when providing an external backup power supply for the absolute encoder 4 3 The inputs at pins 7 to 12 and the outputs at pins 23 to 26 can be changed by parameter settings hg NFB 4 The general purpose input at pin No 13 can be mo
155. 4 5 12 16 2 5 0 55 12 20 M4 5 12 16 25 07 19 30 M4 M6 20 22 35 17 12 20 5 5 12 16 25 0 72 19 30 M5 6 20 22 35 17 19 30 M5 M6 20 22 35 21 19 30 5 M6 20 22 35 21 19 30 M5 6 20 22 35 17 19 30 M5 M6 20 22 35 17 19 30 M5 M6 20 22 35 21 1 5 R7G VRSFPBO5B100 67 5 32 52 40 46 60 50 45 10 1 9 R7G VRSFPBO9B100 67 5 32 52 40 46 60 50 45 10 1 15 R7G VRSFPB15B100 78 32 52 40 46 60 50 45 10 1 25 R7G VRSFPB25C100 92 50 78 40 46 90 70 62 17 1 5 R7G VRSFPB05B200 72 5 32 52 60 70 60 50 45 10 1 9 R7G VRSFPB09C400 89 5 50 78 60 70 90 70 62 17 1 15 R7G VRSFPB15C400 100 50 78 60 70 90 70 62 17 1 25 R7G VRSFPB25C200 100 50 78 60 70 90 70 62 17 1 5 R7G VRSFPB05C400 89 5 50 78 60 70 90 70 62 17 1 9 R7G VRSFPBO9C400 89 5 50 78 60 70 90 70 62 17 1 15 R7G VRSFPB15C400 100 50 78 60 70 90 70 62 17 1 25 R7G VRSFPB25D400 104 61 98 60 70 115 90 75 18 1 5 R7G VRSFPB05C750 93 5 50 78 80 90 90 70 62 17 750W 1 9 R7G VRSFPB09D750 97 5 61 98 80 90 115 90 75 18 1 15 R7G VRSFPB15D750 110 61 98 80 90 115 90 75 18 1 25 R7G VRSFPB25E750 135 75 125 80 90 135 110
156. 4000 5000 0 1000 2000 3000 4000 5000 r min r min OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNL ML2 C 28 R88M G10030H T 100 W R88M G20030H T 200 W Si tors and 5 pes Daai CX Drive Servo System Controller New Product Information Concepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior Servomotor Specifications R88M GP omnon Characteristics 3 000 r min Flat Servomotors 100 VAC 200 VAC Input Powers Model R88M 100 VAC 200 VAC GP10030L GP20030L GP40030L GP10030H GP20030H GP40030H Item Unit GP10030S GP20030S GP40030S GP10030T GP20030T GP40030T Rated output 1 w 100 200 400 100 200 400 Rated torque 1 N m 0 32 0 64 1 3 0 32 0 64 1 3 Rated rotation speed r min 3000 Max momentary rotation speed r min 5000 4500 5000 Max momentary torque 1 N m 0 84 1 8 3 6 0 86 1 8 3 65 Rated current 1 A rms 1 6 2 5 4 4 1 1 6 2 5 Max momentary current 1 A rms 4 9 7 5 13 3 3 1 4 9 7 5 Rotor inertia 1 0 x 105 3 5 x 105 6 5 x 105 1 0x 105 8 5 x 105 6 4 x 105 Applicable load inertia 20 times the roto
157. 42 R88G HPG65A127K5SB SN 1 11 R88G HPG50A115K0B 1 20 R88G HPG65A204K5TB 1 21 R88G HPG50A213K0SB SKN 1 5 R88G HPG65A057K5SB 1 25 R88G HPG65A253K0SB 112 R88G HPG65A127K5SB 1 5 R88G HPGS50A054K0SB Note 1 The standard models have a straight shaft 4 11 R88G HPG50A114K0SB Note 2 Models with a key and tap are indicated with J at the end of the model 4kW number 1 20 R88G HPG65A204K0SB 1 25 R88G HPG65A254K0SB 1 5 R88G HPG50A055K0SB SRN 1 11 R88G HPG50A115K0SB 1 20 R88G HPG65A205K0SB 1 25 R88G HPG65A255K0SB TERN 1 5 R88G HPG65A057K5SB 1 12 R88G HPG65A127K5SB Note 1 The standard models have a straight shaft Note 2 To order a Servomotor with a straight shaft with key add J to the end of the model number Backlash 15 Arcminutes Max Decelerators for 3 000 r min Cylindrical Servomotors Straight shaft with key Backlash 15 Arcminutes Max Decelerators for 3 000 r min Flat Servomotors Straight shaft with key Specifications Specifications Model Model Motor capacity Gear ratio Motor capacity Gear ratio 1 5 R88G VRSF05B100CJ 1 5 R88G VRSF05B100PCJ 1 9 R88G VRSF09B100CJ 3000 1 9 R88G VRSF09B100PCJ 1 15 R88G VRSF15B100CJ 145 R88G VRSF15B100PCJ 1 25 R88G VRSF25B100CJ 1 25 R88G VRSF25B100PCJ 1 5 R88G VRSF05B100CJ 1 5 R88G VRSF05B200PCJ 1 9 R88G VRSF09B100CJ 1 9 R88G VRSF09C200PCJ 100W 200W 1 15 R8
158. 454 82 6 3 40 x 104 1126 4488 7 8 1kW 1 21 R88G HPG32A211K0B 143 58 1 87 238 166 1 3 00 x 104 1367 5488 7 8 1 33 R88G HPG32A331K0B 91 94 3 90 151 270 0 2 80 x 104 1565 6240 7 8 1 45 R88G HPG50A451K0B 67 124 2 87 100 355 4 4 70 x 104 4538 15694 19 0 1 5 R88G HPG32A052K0B 600 19 1 80 1000 51 3 3 90 x 10 4 889 3542 7 4 1 11 R88G HPG32A112K0B 273 45 7 87 454 122 5 3 40 x 104 1126 4488 7 9 1 5 kW 1 21 R88G HPG32A211K5B 143 90 1 90 238 241 9 3 00 x 10 4 1367 5448 7 9 1 33 R88G HPG50A332K0B 91 141 5 90 136 379 7 4 80 x 104 4135 14300 19 0 1 45 R88G HPG50A451K5B 67 192 9 90 100 517 8 4 70 x 10 4538 15694 19 0 1 5 R88G HPG32A052K0B 600 26 7 84 1000 774 3 90 x 104 889 3542 7 4 gt KW 1 11 R88G HPG32A112K0B 273 62 4 89 454 180 7 3 40 x 104 1126 4488 7 9 1 21 R88G HPG50A212K0B 143 118 9 89 214 343 9 5 80 x 104 3611 12486 19 0 1 33 R88G HPG50A332K0B 91 191 8 91 136 555 0 4 80 10 4 4135 14300 19 0 1 5 R88G HPG32A053K0B 600 42 0 88 1000 118 9 3 80 x 104 889 3542 7 3 3kW 1 11 R88G HPG50A113K0B 273 92 3 88 409 261 4 7 70 x 104 2974 10285 19 0 1 21 R88G HPG50A213K0B 143 183 0 91 214 517 7 5 80 x 104 3611 12486 19 0 Tkw 1 5 R88G HPG32A054K0B 600 53 9 90 900 163 4 3 80 x 104 889 3542 7 9 1 11 R88G HPG50A115K0B 273 124 6 90 409 359 0 8 80 x 104 2974 10285 19 1 5 kW 1 5 R88G HPG50A055K0B 600 69 3 88 900 197 8 1 20x 103 2347 8118 17 7 1 1 R88G HPG50A115K0B 273 158 4 91 409 451 9 8 80 x 104 2974 10285 19 1 Note 4 The allowable radial l
159. 5K0B NEW did 1 11 R88G HPG50A115KOB NEW Note 1 The standard models have a straight shaft Note 2 To order a Servomotor with a straight shaft with key add J to the end of the model number C 9 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNLT ML2 omnon Backlash 3 Arcminutes Max NEW Decelerators for 2 000 r min Cylindrical Servomotors Straight staft Backlash 3 Arcminutes Max NEW Decelerators for 1 000 r min Cylindrical Servomotors Straight staft Specifications Specifications Model Model Motor capacity Gear ratio Motor capacity Gear ratio 1 5 R88G HPG32A053K0B 1 5 R88G HPG32A05900TB 1 11 R88G HPG32A112K0SB 1 11 R88G HPG32A11900TB 1 kW 1 21 R88G HPG32A211K0SB Se 1 21 R88G HPG50A21900TB 1 33 R88G HPG50A332K0SB 1 33 R88G HPG50A33900TB 1 45 R88G HPG50A451K0SB 1 5 R88G HPG32A052K0TB 1 5 R88G HPG32A053K0B 1 11 R88G HPG50A112KOTB ISKN 1 11 R88G HPG32A112K0SB 1 21 R88G HPG50A212K0TB 1 21 R88G HPG50A213K0B 1 25 R88G HPG65A255K0SB 1 33 R88G HPG50A332K0SB 1 5 R88G HPG50A055K0SB 1 5 R88G HPG32A053K0B 1 11 R88G HPG50A115KOSB SN 1 11 R88G HPG32A112K0SB SEM 1 20 R88G HPG65A205K0SB 1 21 R88G HPG50A213K0B 1 25 R88G HPG65A255K0SB 1 33 R88G HPG50A332K0SB 1 5 R88G HPG50A054K5TB 1 5 R88G HPG32A054K0B 4 5 kW 1
160. 6 8 2 75 x 105 931 465 1 70 ES 1 15 R88G VRSF15C400CJ 200 15 8 83 333 45 7 44 8 3 00 x 105 1176 588 2 10 1 25 R88G VRSF25C400CJ 120 26 4 83 200 76 1 74 7 2 88 x 105 1323 661 2 10 1 5 R88G VRSF05C750CJ 600 10 7 90 1000 31 7 7 18 x 105 784 392 2 10 1 9 R88G VRSF09D750CJ 333 18 2 85 556 53 9 6 50 x 105 1176 588 3 40 ibd 1 15 R88G VRSF15D750CJ 200 30 4 85 333 89 9 7 00 x 105 1372 686 3 80 1 25 R88G VRSF25D750CJ 120 50 7 85 200 149 8 6 80 x 105 1617 808 3 80 Note 1 The values inside parentheses are for 100 V Servomotors Note 2 The Decelerator inertia is the Servomotor shaft conversion value Note 3 The protective structure for Servomotors with Decelerators satisfies IP44 Note 4 The allowable radial load is the value at the LR 2 position Note 5 The standard models have a straight shaft with a key Decelerators for 3 000 r min Flat Servomotor re bore C Efficiency In EU em Weight odel speed rotation speed torque load load r min N m r min N m kg m2 N N kg 1 5 R88G VRSF05B100PCJ 600 1 19 75 1000 3 15 4 00 x 106 392 196 0 72 1 9 R88G VRSF09B100PCJ 333 2 29 80 556 6 048 3 50 x 10 6 441 220 0 72 201 1 15 R88G VRSF15B100PCJ 200 3 81 80 333 10 08 3 50 x 106 588 294 0 87 1 25 R88G VRSF25B100PCJ 120 6 36 80 200 16 8 3 25 x 10 6 686 343 0 87 1 5 R88G VRSF05B200PCJ 600 2 70 85 1000 7 65 1 18 x 105 392 196 0 85 1 9 R88G VRSF09C200PCJ 333 3 77 66 556 10 692 2 75 x 105 931 465 1 80 rae 1 5 R88G VRSF15C200PCJ 200 6 29 66 333 1
161. 7 82 3 00 x 105 1176 588 2 20 1 25b R88G VRSF25C200PCJ 120 11 1 70 200 31 5 2 88 x 105 1323 661 2 20 1 5 R88G VRSF05C400PCJ 600 5 40 85 1000 900 15 5 15 3 3 63 x 105 784 392 1 80 1 9 R88G VRSF09C400PCJ 333 9 50 83 556 500 27 3 26 9 2 75 x 105 931 465 1 80 polis 1 5 R88G VRSF15C400PCJ 200 15 8 83 333 300 45 4 44 8 3 00 x 105 1176 588 2 20 1 25 R88G VRSF25C400PCJ 120 26 4 83 200 180 75 7 74 7 2 88 x 105 13238 661 2 20 Note 1 The values inside parentheses are for 100 V Servomotors Note 2 The Decelerator inertia is the Servomotor shaft conversion value Note 3 The protective structure for Servomotors with Decelerators satisfies IP44 Note 4 The allowable radial load is the value at the LR 2 position Note 5 The standard models have a straight shaft with a key OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNI ML2 C 38 s tors and T meee CX Drive Servo System Controller New Product Information Co ncepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior omnon Encoder External Regeneration Resistors Reactor and Parameter Unit Specifications Encoder Specificat ions Incremental Encoders Encoder system Optical encoder Specifications No of output pulses Phases A and B 2 500 puls
162. 7K5SBE 1 Also used with R88M G7K515T R88G HPG65A127K5SB Also used with R88M G7K515T OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GN ML2 C 16 S tors and CX Drive Servo System Controller New Product Information Co ncepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior omnon Cable Combinations Parameter Unit Dg 201 Monitor Software for Windows 31 01101 ocoooo Connector Terminal Block Conversion Unit Brake Cable Combinations Using the following Servomotors with brake 1 Cylindrical Servomotors 3 000 r min 50 to 750 W Flat Servomotors 3 000 r min 100 to 400 W Cylindrical Servomotors 2 000 r min 7 5 kW Cylindrical Servomotors 1 000 r min 6 kW Other Servomotors 1 Power Supply Cables for CNB SR Connection Cables
163. 88M G20030L S 200 W N m N m N m 0 5 10 48 0 48 1 0 10 83 0 83 3600 2 0 4 78 1 78 3500 Repetitive usage Repetitive usage Repetitive usage 0 25 10 16 0 16 0 5 10 32 0 32 101 64 0 64 0 9 Continuous usage Continuous usage Continuous usage 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 r min r min r min R88M G40030L S 400 W N m 4 05 6 3 6 3000 Repetitive usage 20113 1 3 0 6 0 1000 2000 3000 4000 5000 r min OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNI ML2 C 26 S tors and CX Drive Servo System Controller new Product niomaton Concepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior omnon Servomotor Specifications R88M G Characteristics 3 000 r min Cylindrical Servomotors 200 VAC Input Power Model R88M G05030H G10030H G20030H G40030H G75030H _ _ _ _ _ _ Unit G05030T G10030T G20030T G40030T G75030T G1K030T G1K530T G2K030T G3K030T G4K030T G5K030T Rated output i w 50 100 200 400 750 1000 1500 2000 3000 400
164. 88M WP10030H WS1 R88M WP10030T WS1 200 W R88M WP20030H WS1 R88M WP20030T WS1 Without brake 400 W R88M WP40030H WS1 Without brake R88M WP40030T WS1 750 W R88M WP75030H WS1 R88M WP75030T WS1 Straight shaft 1 5 kW R88M WP1K530H WS1 Straight shaft R88M WP1K530T WS1 with key 100 W R88M WP10030H BWS1 with key R88M WP10030T BWS1 200 W R88M WP20030H BWS1 R88M WP20030T BWS1 With brake 400 W R88M WP40030H BWS1 With brake R88M WP40030T BWS1 750 W R88M WP75030H BWS1 R88M WP75030T BWS1 1 5 kW R88M WP1K530H BWS1 R88M WP1K530T BWS1 2 An S1 suffix indicates models with a key but with no tap An S2 suffix indicates models with both a key and tap For Servomotors of 1 kW or more there are no S1 or S3 models 3 Selecting a Servomotor 1 The Servomotor shaft and connectors are not waterproof Do not expose them to water 2 The Standard Cable R88A CAW can be used but it is not waterproof If waterproofing is required the user must provide waterproof cable 3 If the connectors or cable are to be exposed to water it is recommended that the connectors including at the Servomotor be replaced with waterproof con nectors to protect the terminals For recommended waterproof connectors refer to 3 1 2 Servomotor Installation Conditions in OMNUC W Series User s Man ual Cat No 1531 D 7 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WNL
165. 8G HPG20A45100PB 1 5 R88G HPG11A05100B 1 5 R88G HPG14A05200PB 1 11 R88G HPG14A11100B 1 11 R88G HPG20A11200PB 100 W 1 21 R88G HPG14A21100B 200 W 1 21 R88G HPG20A21200PB 1 33 R88G HPG20A33100B 1 33 R88G HPG20A33200PB 1 45 R88G HPG20A45100B 1 45 R88G HPG20A45200PB 1 5 R88G HPG14A05200B 1 5 R88G HPG20A05400PB 1 11 R88G HPG14A11200B 1 11 R88G HPG20A11400PB 200 W 1 21 R88G HPG20A21200B 400 W 1 21 R88G HPG20A21400PB 1 33 R88G HPG20A33200B 1 33 R88G HPG32A33400PB 1 45 R88G HPG20A45200B 1 45 R88G HPG32A45400PB 1 5 R88G HPG14A05400B Note 1 The standard models have a straight shaft 1 11 R88G HPG20A11400B Note 2 To order a Servomotor with a straight shaft with key add J to the end 400 W 1 21 R88G HPG20A21400B ofthe modelinumber 1 33 R88G HPG32A33400B 1 45 R88G HPG32A45400B 1 5 R88G HPG20A05750B 1 11 R88G HPG20A11750B 750 W 1 21 R88G HPG32A21750B 1 33 R88G HPG32A33750B 1 45 R88G HPG32A45750B 1 5 R88G HPG32A051K0B NEW 1 11 R88G HPG32A111KOB NEW 1 kW 1 21 R88G HPG32A211K0B NEW 1 33 R88G HPG32A331K0B NEW 1 45 R88G HPG50A451K0B NEW 1 5 R88G HPG32A052K0B NEW 141 R88G HPG32A112K0B NEW 1 5 kW 1 21 R88G HPG32A211K5B NEW 1 33 R88G HPG50A332K0B NEW 1 45 R88G HPG50A451K5B NEW 1 5 R88G HPG32A052K0B NEW 1 11 R88G HPG32A112K0B NEW d 1 21 R88G HPG50A212K0B NEW 1 33 R88G HPG50A332K0B NEW 1 5 R88G HPG32A053K0B NEW 3kW 1 11 R88G HPG50A113K0B NEW 1 21 R88G HPG50A213K0B NEW 1 5 R88G HPG32A054K0B NEW d 141 R88G HPG50A115KOB NEW 1 5 R88G HPG50A05
166. 8G HPG65A127K5SB 1 12 4 5 kW 25 80 130 18 M12x25 M8 110 22 14 9 0 M16 35 R88G HPG65A204K5TB 1 20 25 80 130 18 M12x25 M8 110 22 14 9 0 M16 35 R88G HPG65A057K5SB 1 5 25 80 130 18 M12x25 M8 110 22 14 9 0 M16 35 R88G HPG65A127K5SB 142 is 1 This is the set bolt Key and Tap Dimensions b depth L OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNI ML2 C 68 S tors and dervo Drive CX Drive Servo System Controller New Product Information Concepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior omnon 3 000 r min Cylindrical Servomotors e Backlash 15 Arcminutes Max Dimensions mm Model LM LR C1 C2 D1 D2 D3 D4 E3 F G 1 5 R88G VRSF05B100CJ 67 5 32 52 40 46 60 50 45 10 3 6 1 9 R88G VRSF09B100CJ 67 5 32 52 40 46 60 50 45 10 3 6 PRN 1 15 R88G VRSF15B100CJ 78 0 32 52 40 46 60 50 45 10 3 6 1 25 R88G VRSF25B050CJ 78 0 32 52 40 46 60 50 45 10 3 6 1 5 R88G VRSF05B100CJ 67 5 32 52 40 46 60 50 45 10 3 6 1 9 R88G VRSF09B100CJ 67 5 32 52 40 46 60 50 45 10 3 6 ND 1 15 R88G VRSF15B100CJ 78 0 32 52 40 46 60 50 45 10 3 6 1 25 R88G
167. 8G VRSF15B100CJ 145 R88G VRSF15C200PCJ 1 25 R88G VRSF25B100CJ 1 25 R88G VRSF25C200PCJ 1 5 R88G VRSF05B200CJ 1 5 R88G VRSF05C400PCJ 1 9 R88G VRSF09C200CJ 1 9 R88G VRSF09C400PCJ 200W 400W 1 15 R88G VRSF15C200CJ 145 R88G VRSF15C400PCJ 1 25 R88G VRSF25C200CJ 1 25 R88G VRSF25C400PCJ 1 5 R88G VRSF05C400CJ 1 9 R88G VRSF09C400CJ 400W 1 15 R88G VRSF15C400CJ 1 25 R88G VRSF25C400CJ 1 5 R88G VRSF05C750CJ 1 9 R88G VRSF09D750CJ 750W 1 15 R88G VRSF15D750CJ 1 25 R88G VRSF25D750CJ OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GN ML2 C 10 E tors and dervo Drive CX Drive Servo System Controller New Product Information Concepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior Accessories and Cables e Servomotor Power Cables Standard Cables For Servomotor without brake Specifications Model omnon Servomotor Power Cables Standard Cables For Servomotor with brake Specifications Note There are separate connectors for power and bra es for 3 000 r min Ser vomotors of 50 to 750 W Flat Servomotors and Servomotors of 6 kW or higher
168. 8M G1K530T 180 115 95 100 135 10 103 9 R88M G2K030T 205 R88M G1K030T B 200 100 80 90 120 7 98 6 6 R88M G1K530T B 205 115 95 100 135 10 103 9 R88M G2K030T B 230 Note The standard models have a straight shaft A model with a key and tap is indicated by adding S2 to the end of the model number R88M G3K030T R88M G3K030T B e3 kW Servomotor brake R88M G3KO030T S2 connector Dimensions of the shaft end R88M G3K030T B S2 LL 55 1 1204120 with key and tap connector DA 122 3 le 45 i S 8h9 FEM 8E F Y 242 Hi M5 depth 12 Note The standard models have a straight shaft A model with a key and tap is indicated by adding S2 to the end of the model number 4 kW 5 kW R88M G4KO3OT S2 R88M G5K030T S2 seryomotor brake R88M G4K030T B S2 connector T 65 R88M G5K030T B 52 Encoder F T 7 connector 12 6 it Note The standard models have a straight shaft A model with a key and tap is indicated by adding S2 to the end of the model number Dimensions of shaft end with key and tap Four 9 dia Model LL 24 7 height 6 118 lt 110 dia height 7 R88M G4K030T R88M G5K030T R88M G4K030T B R88M G5K030T B
169. A CAGDO20B 30 R88A CAGCO30S R88A CAGD030B 40 R88A CAGCO40S R88A CAGD040B 50 R88A CAGCO50S R88A CAGD050B 3m R88A CAGD003S 5m R88A CAGD005S e Brake Cables Standard Cables 10 R88A CAGDO10S Specifications Model 3 000 r min Servomotors of to 5 kW 15m R88A CAGDO15S R88A CAGA003B boo din Sera etse oto 10 20 R88A CAGDO20S R88A CAGA005B 30 R88A CAGD030S R88A CAGA010B 40 R88A CAGDO040S 3 000 r min Servomotors of 50 to 750 W R88A CAGA015B 50 R88A CAGDOSOS 3 000 r min Flat Servomotors of 100 to 400 W R88A CAGA020B 3m R88A CAGE003S R88A CAGA030B 5m R88A CAGE005S R88A CAGA040B 10 R88A CAGE010S R88A CAGA0S0B 2 000 r min Servomotors of 7 5 kW 15m R88A CAGEO15S RSSA CAGE003B 1 000 r min Servomotors of 6 kW 20 R88A CAGE020S R88A CAGE005B 30 R88A CAGE030S R88A CAGE010B 40m R88A CAGE040S 1 500 r min Servomotors of 7 5 kW R88A CAGE015B 50m R88A CAGEO50S 1 000 r min Servomotors of 6 KW R88A CAGE020B R88A CAGE030B R88A CAGE040B R88A CAGE050B ML2 e Encoder Cables Standard Cables Specifications Model R88A CRGAO03C omnon e Servomotor Power Cables Robot Cables NEW For Servomotor without brake R88A CRGAO05C R88A CRGAO10C 3 000 r min Servomotors of 50 to 750 W with an absolute encoder R88A CRGA015C 3 000 r min Flat Servomotors of 100 to 400 W with an absolute encoder R88A CRGA020C R88A
170. A451K5B 1 45 13 40 82 11 M8x10 M6 70 12 8 5 0 M10 20 R88G HPG32A052K0B 1 5 13 40 82 11 M8x10 M6 70 12 8 5 0 M10 20 R88G HPG32A112K0B 1 11 2kW 16 50 82 14 M8x10 M6 70 14 9 5 5 M10 20 R88G HPG50A212K0B 1 21 16 50 82 14 M8x10 M6 70 14 9 5 5 M10 20 R88G HPG50A332K0B 1 33 13 40 82 11 M8x18 M6 70 12 8 5 0 M10 20 R88G HPG32A053K0B 1 5 16 50 82 14 8 16 M6 70 14 9 5 5 M10 20 R88G HPG50A113K0B 1 11 3 kW 16 50 82 14 8 16 M6 70 14 9 5 5 M10 20 R88G HPG50A213K0B 1 21 13 40 82 11 M8x25 M6 70 12 8 5 0 M10 20 R88G HPG32A054K0B 1 5 16 50 82 14 M8x25 M6 70 14 9 5 5 M10 20 R88G HPG50A115K0B 1 11 16 50 82 14 8 25 6 70 14 9 5 5 M10 20 R88G HPG50A055K0B 1 5 16 50 82 14 M8x25 M6 70 14 9 5 5 M10 20 R88G HPG50A115K0B 1 11 SKW 1 This is the set bolt 1 to5 kW Set bolt AT C1xC1 Set bolt AT Four Z2 dia Four Z2 dia E TH Key and Tap Dimensions DI D2 diay _ _ b 8 ere X i 7 D Four Z1 dia HL peel C dia 4M depth L G om 7 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNLI I ML2 C 62 E tors and CX Drive Servo System Controller New Product Information Concepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior omnon 3 000 r min Flat Servomotors e Backlash 3 Arcminutes Max
171. Approx 6 8 Approx 8 5 Approx 10 6 Approx 14 6 Approx 18 8 Approx 25 Approx 41 With brake kg Approx 8 7 Approx 10 1 Approx 12 5 Approx 16 5 Approx 21 3 Approx 28 5 Approx 45 Radiation shield dimensions material 275 x 260 x t15 Al a x 470 x 440 x t30 Al Applicable Servo Drives R88D GN10H ML2 GN15H ML2 GN20H ML2 GN30H ML2 GN50H ML2 GN50H ML2 GN75H ML2 Brake inertia kgm 1 35 x 104 425 104 47x104 4 7 x 104 GD 4 Excitation voltage 4 V 24 10 Power consumption at 20 w 14 19 19 22 26 31 34 Current consumption at 20 C A 0 59 0 79 0 79 0 9 1 1 1 3 1 4 2 Static friction torque N m 4 9 min 13 7 min 13 7 min 16 1 min 21 5 min 24 5 min 58 8 min t Attraction time 5 ms 80 max 100 max 100 max 110 max 90 max 80 max 150 max o Release time 5 ms 70 max 50 max 50 max 50 max 35 min 25 min 50 max 8 Backlash 1 reference value Allowable work per braking J 588 1176 1176 1170 1078 1372 1372 n Allowable total work J 7 8 x 105 1 5x 106 1 5 x 106 2 2 x 106 2 5 x 106 2 9 x 106 2 9 x 106 MMweRbenguirerecieeten Speed of 900 r min or more eme changed in less than 10 ms Brake life _ 10 000 000 operations Rating _ Continuous Insulation grade _ Type F These are the values when the Servomotor is combined with a Servo Drive at room temperature 20 C 65 The maximum momentary torque shown above indicates the standard value Applicable Load Inertia
172. B100 600 1 19 75 900 3 60 4 08 x 10 6 392 196 iooi 1 9 VRSFPB09B100 333 2 29 80 500 6 91 3 43 x 10 6 441 220 1 15 VRSFPB15B100 200 3 82 80 300 11 5 3 62 x 10 6 588 294 1 25 VRSFPB25C100 120 6 36 80 180 19 2 3 92 x 10 6 1323 661 1 5 VRSFPB05B200 600 2 71 85 900 8 12 1 53 x 105 392 196 1 9 VRSFPBO9C400 333 3 78 66 500 11 3 2 68 x 10 5 931 465 AM 1 15 VRSFPB15C400 200 6 31 66 300 18 9 2 71 x 105 1176 588 1 25 VRSFPB25C200 120 111 70 180 33 4 2 67 x 10 5 1323 661 1 5 VRSFPB05C400 600 5 40 85 900 16 2 3 22 x 1075 784 392 abc 1 9 VRSFPBO9C400 333 9 49 83 500 28 5 2 68 x 1075 931 465 1 15 VRSFPB15C400 200 15 8 83 300 47 6 2 71 x 105 1176 588 1 25 VRSFPB25D400 120 26 4 83 180 79 3 2 79 x 1075 1617 808 1 5 VRSFPBO05C750 600 10 8 90 900 32 0 7 17 x 1075 784 392 1 9 VRSFPBO9D750 333 18 3 85 500 54 3 6 50 x 10 5 1176 588 ABON 1 15 VRSFPB15D750 200 30 5 85 300 90 5 7 09 x 10 5 1372 686 1 25 VRSFPB25E750 120 50 8 85 180 151 7 05 x 10 5 2058 1029 Backlash 45 Arcminutes Max Gear ratio Model R7G speed torque speed torque inertia load load r min N m r min N m kg m N N 1 5 RGSFO05B100 600 1 19 75 900 3 60 4 08 x 10 6 392 196 100W 1 9 RGSF09B100 333 2 29 80 500 6 91 3 43 x 10 6 441 220 1 15 RGSF15B100 200 3 82 80 300 11 5 3 62 x 10 6 588 294 1 5 RGSF05B200 600 2 71 85 900 8 12 1 53 x 10 5 392 196 200 W 1 9 RGSFO09C400 333 3 78 66 500 11 8 2 68 x 10 5 931 465 1 15 RGSF15C400 200 6 31 66 300 18 9 2 71 x 105 1176 588 1 5 RGSFO05C400 600 54 85 900 16 2 3
173. B19 R7M Z40030 S1 Terminal Blocks 2m XW2Z 200J B19 Straight shaft R7M Z75030 S1 Terminal Block Conversion Unit XW2B 20G5 with key R7M Z10030 BS1 R7M Z20030 BS1 Servomotor Power Cables With brake PEET R7M Z40030 BS1 Specifications Model R7M Z75030 BS1 3m R7A CAZ003S Power 5m R7A CAZ005S Cables for AC Servo Drives Servomotors 10m R7A CAZ010S FEAT without Specifications Model Brakes 15m R7A CAZ015S 100 W R7D ZNO1H ML2 20m R7A CAZ020S Power Cables 200 W R7D ZNO2H ML2 3m R7A CAZ003B 200 VAC 400 W R7D ZNO4H ML2 Power 5m R7A CAZ005B Cables for 750 W R7D ZNO8H ML2 Servemotors 10m R7A CAZ010B Note The Main Circuit Connector is not provided Order it separately with Brakes 15m R7A CAZ015B Main Circuit Connector 20m 7 2 Specifications Model Encoder Cables Main Circuit Connector CNA R7A CNZO1P Specifications Model Decelerators Straight Shaft with Key zm RTA CRZ005C R7A CRZ005C For Cylinder type Motors Backlash 45 Arcminutes 2m M Encoder Cables 10m R7A CRZ010C ax 15m R7A CRZ015C Gear ratio Motor capacity Model 20m R7A CRZ020C 1 5 1 9 1 15 R7G RGSF05B100 OK Connectors 100 W R7G RGSF09B100 OK Specifications Model R7G RGSF15B100 OK Control I O Connector R7A CNAO1R R7G RGSF05B200 OK Servomotor Connector CNB R7A CNZO1A 200W R7G RGSF09C400 OK Encoder Input Connector CN2 R7A CNZO1R R7G RGSF15C400 OK Servomotor Connector for Encoder Cable R7A CNZ02R R7G RGSF05C400 OK E ane Grios i ervomotor Connect
174. C 21 6 to 26 4 V DC 5 Internal current consumption 0 6 Aorless for 5 VD 0 8 Aorless for 5 VDC u Weight Connectors excluded 210 g max 300 g max Note 1 To determine the number of MC Units that can be mounted under one CPU Unit examine the followings 1 Maximum number of CPU Bus Units that can be allocated words in the CPU Unit being used 2 The capacity of the power supply unit used for each rack CPU Rack and Expansion Rack and the current consumption of the units mounted on the racks Refer to the CPU Unit s operation manual for details on calculation methods 2 The user must prepare the required power supply 3 The CJ1W MCH71 requires the space used for three standard Units CX Drive Servo System Praia trt Motor Selection Program Features Servomotors and Controllers Position Control Units z P5 2 os OMNUC W OMNUC G SMARTSTEP Junior SYSMAC CJ CS series MECHATROLINK II compatible Motion Control Units CJ1W MCH71 CS1W MCH71 B 4 Functions omnon Electronic Shaft Electronic Gear CONNECT This function synchronizes with the main axis at the specified gear ratio It allows for reductions in mechanical functions and labor requirements for machinery maintenance Electronic Cam CAM CAMBOX An independent electronic cam can be positioned according to exe cution times specified in the cam data and a synchronized electronic cam can be operated according t
175. CHATROLINK II Communications R88M W R88D WNL ML2 omnon Cylinder type Servomotors 1500 r min for Incremental or Absolute Encoders Specifications Model Straight shaft with key Without brake 450W R88M W45015T S2 850 W R88M W85015T S2 1 3 kW R88M W1K315T S2 1 8 kW R88M W1K815T S2 With brake 450 W R88M W45015T BS2 850 W R88M W85015T BS2 1 3 kW R88M W1K315T BS2 1 8 kW R88M W1K815T BS2 Cylinder type Servomotors 1000 r min with Incremental Encoder Cylinder type Servomotors 1000 r min with Absolute Encoder Specifications Model Specifications Model Straight shaft with key Without brake 300 W R88M W30010H S2 600 W R88M W60010H S2 900 W R88M W90010H S2 1 2 kW R88M W1K210H S2 2kW R88M W2K010H S2 With brake 300 W R88M W30010H BS2 600 W R88M W60010H BS2 900 W R88M W90010H BS2 1 2 kW R88M W1K210H BS2 2kW R88M W2K010H BS2 Straight shaft with key Without brake 300W R88M W30010T S2 600 W R88M W60010T S2 900 W R88M W90010T S2 1 2W R88M W1K210T S2 2kW R88M W2K010T S2 With brake 300 W R88M W30010T BS2 600 W R88M W60010T BS2 900 W R88M W90010T BS2 1 2 kW R88M W1K210T BS2 2 kW R88M W2K010T BS2 Note An S2 suffix i
176. E Connectors for CN2 10 pin Crimped Connector Soldered Connector Manufacturer Manufacturer 54559 1005 Plug Cable and Cover Set 54599 1019 Plug Cable and Cover Set Molex Japan Co Controllers Motion Control Units Plug Housing 51209 1001 Plug Connector 51593 1019 59351 8187 Molex Japan Co Crimp Terminal Loose wire Crimping Tool 57401 5300 2 z s 2 Junior cc lt SMARTSTEP Junior AC Servomotors and Servo Drives with Built in MECHATROLINK II Communications RZM Z R7D ZNLT ML2 E 14 omnon Components and Functions Servo Drive Nomenclature omron R7D ZNO1H ML2 DRIVER 3 5 ALM RDY 1 Rotary switch for setting command Ma GEN SMARTSTEP filter FIL dc MM Connector for 3 MECHATROLINK II communications CN6 Control I O connector CN1 N Encoder input connector CN2 Power supply 2 indicator PWR A Main circuit n connector CNA Servomotor connector CNB Ih FG terminals for CNA power supply and AR Servomotor power DIP switch for setting MECHATROLINK II J communications SW2 n ul MARTS ceo Rotary switch for setting MECHATROLINK II axis number SW1 Servo status indicator RDY Alarm indicator ALM MECHATROLINK II communications status indicator COM FIL CN6 A B
177. FNY W6003 01 JEPMC W6003 01 Cable Length 3 0 m FNY W6003 03 JEPMC W6003 03 Cable Length 5 0 m FNY W6003 05 JEPMC W6003 05 Cable Length 10 0 m FNY W6003 10 JEPMC W6003 10 Cable Length 20 0 m FNY W6003 20 JEPMC W6003 20 Cable Length 30 0 m FNY W6003 30 JEPMC W6003 30 MECHATROLINK II Terminating Resistor Terminating resistance FNY W6022 JEPMC W6022 MECHATROLINK II Repeater Communications Repeater FNY REP2000 JEPMC REP2000 Note MECHATROLINK related Devices and Cables are manufactured by Yaskawa Corporation but they can be ordered directly from OMRON using the OMRON model numbers Yaskawa brand products will be delivered even when they are ordered from OMRON OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GN ML2 C 14 S tors and Drives CX Drive Servo System Controller New Product Information Concepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior Servo Drive Servomotor Combinations Only the Servomotor and Servo Drive combinations listed here can be used Do not use other combinations 3 000 r min Sylindrical Servomotors and Servo Drives omnon
178. FNY W6003 20 JEPMC W6003 20 30m FNY W6003 30 JEPMC W6003 30 5 MECHATROLINK II Terminating Resistor re FNY W6022 JEPMC W6022 Yaskawa Electric Corporation Only the Yaskawa model number is shown on the product and not the OMRON model number Options for CN3 Symbol Name 6 2 m Cable for connecting Monitor Software Connected item For IBM PC AT or compatible Model R88A CCW002P2 Other Options Name Description Model Backup battery 1000 mAh 3 6 V R88A BAT01W Analog Monitor Cable 1m R88A CMW001S Control I O Connector CN1 Servo Drive side R88A CNWO1C Encoder Connector CN2 Servo Drive side R88A CNWO1R Servomotor side R88A CNWO2R Connector Terminal Block Cable zm 2m XW2Z 200J B16 M3 screw Terminal Block XW2B 20G4 Connector Terminal Block Conversion Unit M3 5 screw Terminal Block XW2B 20G5 M3 screw Terminal Block XW2D 20G6 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WN ML2 D 14 S tors and Teos Drives CX Drive Servo System Controller New Product Information Concepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC G SMART
179. G R88D GNLT ML2 omnon e Three phase 200 VAC 7 5 kW R88D GN75H ML2 Front Panel Mounting Using Mounting Brackets 248 Mounting Hole Dimensions 339 3 4 45 1 Six M4 2 3 _ L a a aa P F EB IE 8 Square hole e N l e e 38 5 90405 L 90 05 Four 5 2 dia ke 250 gt 110000000 BR aGROSBORRODODODOOODUQO 00000000000 e 1000000000 800000180 0000000200000028890860002080208900882002 e e e e OMNUC G series Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNI ML2 C 54 S tors and paca gay CX Drive Servo System Controller new product niomat Concepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior Servomotors omnon 3 000 r min Cylindrical Servomotors 50 W 100 W R88M G05030H S2 R88M G10030L S2 R88M G10030H S2 R88M G05030H B
180. Guide Select the Ideal Motor for Application with Don t use Front 19 MECHATROLINK II OMNUC G Series NEW Built in MECHATROLINK II Communications mm W Series Built in MECHATROLINK II Communications SMARTSTEP Junior Built in MECHATROLINK II Communications OMNUC G series Servo Drives with Built in MECHATROLINK II Communications provide the following features Select an OMNUC G series Servo Drives with Built in MECHATROLINK II Communications to use these features Torque Limit Torque control is used to press a machine against a workpiece or other object with a fixed force It is used to prevent applying an excessive force or torque on the mechanical system to protect the motor and mechanical system S curve Acceleration Deceleration S curve acceleration deceleration can be used to enable smoother accelerations decelerations Brake Timing The brake timing can be set to protect the machine and the holding brake of the Servo Motor from damage The break output timing can be set Deviation Counter Overflow Level An overflow level can be set for the deviation counter to prevent excessive overflow The deviation counter level at which warnings and alarms are given to detect positioning loop errors can be set Overtravel Stop Selection e The method used to stop the motor when a limit input turns OFF can be set Backla
181. IP Switch SW2 for MECHATROLINK II Communications Settings MECHATROLINK II communications specifications are set using the DIP switch SW2 for MECHATROLINK II communications settings The settings are shown in the following table Changes to the settings go into effect after the power is turned ON Bit Name Setting Contents Factory setting Bit 1 Reserved for system ON ON ON Bit2 Reserved for system ON ON Bit3 Axis No setting ee OFF 1234 9 ON Axis No 16 min jp o en cw la o Bit4 Filter setting selection OFF Pan E ann tie i OFF SW2 factory settings E Filter Setting Selection There are two methods for setting the command filter as shown below The selection is made using SW bit 4 New Product Information Motion Network Lineup SW2 bit 4 Specifications OFF Set using the rotary switch for setting the command filter FIL Factory setting ON Set using PnOOA Disables the rotary switch for setting the command filter MECHATROLINK II Axis Number Rotary Switch SW1 The axis number is set as shown below using the rotary switch for setting the MECHATROLINK II axis number SW1 and the DIP switch for set ting MECHATROLINK II communications SW2 bit 3 Controller Features
182. IP44 3 The maximum momentary torque values marked by asterisks are the maximum allowable torque for the Decelerators Use torque limits so that these values are not exceeded 4 The allowable radial load is the value at the center of the shaft D 27 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WNL ML2 omnon 1 500 r min Servomotors with Standard Decelerators 450 W to 1 8 kW Note 1 The Decelerator inertia is the Servomotor shaft conversion value 2 The degree of protection for Servomotors with Decelerators is IP44 3 The maximum momentary torque values marked by asterisks are the maximum allowable torque for the Decelerators Use torque limits so that these values are not exceeded 4 The allowable radial load is the value at the center of the shaft 3 000 r min Servomotors with Economy Decelerators 100 to 750 W Rated Rated Ratio phia Decelera Allowable Allowable m Model speed torque OCCORRE SEND tor inertia radial load thrust load dod r min N m r min N m kg m N N kg kg 450 W 1 5 R88M W45015T LIGOSBJ 300 11 4 80 600 35 7 1 26 x 104 883 1280 14 16 1 9 R88M W45015T LIGO9BJ
183. Insulation grade _ Type B 1 These are the values when the Servomotor is combined with a Servo Drive at room temperature 20 C 65 The maximum momentary torque shown above indicates the standard value 2 Applicable Load Inertia The operable load inertia ratio load inertia rotor inertia depends on the mechanical configuration and its rigidity For a machine with high rigidity operation is possible even with high load inertia Select an appropriate motor and confirm that operation is possible If the dynamic brake is activated frequently with high load inertia the dynamic brake resistor may burn Do not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled 3 applied as shown in the following diagram rac load Thrust load JL Center of shaft LR 2 4 This is an OFF brake It is reset when excitation voltage is applied The operation time is the value reference value measured with a surge suppressor CR50500 manufactured by Okaya Electric Industries Co Ltd The allowable radial and thrust loads are the values determined for a service life of 20 000 hours at normal operating temperatures The allowable radial loads are C 29 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GN ML2 Torque and Rotation Speed Characteristics omnon 3 000 r min Flat Servomotors e 3 000 r min Servomotors
184. JEPMC W6003 10 20 0 FNY W6003 20 JEPMC W6003 20 5 30 0 m FNY W6003 30 JEPMC W6003 30 S MECHATROLINK II Terminating Resistor Terminating resistance FNY W6022 JEPMC W6022 MECHATROLINK II Repeater Communications Repeater FNY REP2000 JEPMC REP2000 Note MECHATROLINK related Devices and Cables are manufactured by Yaskawa Corporation but they can be ordered directly from OMRON using the OMRON model numbers Yaskawa brand products will be delivered even when they are ordered from OMRON New Product Information Motion Network Lineup Robot Cables Power Cables L1 ow Specifications Model Specifications Model 5 3m R88A CAWA003SR 3m R88A CAWC003BR ES m R88A CAWA005SR For pay in Cylinder m R88A CAWC005BR gu For 3000 r min Cylinder 10 R88A CAWA010SR W to 900 W 10m R88A CAWCO10BR IE O T 15m R88A CAWA015SR For 1500 r min Cylinder 15m R88A CAWCOT5BR z For Flat type Motors 20m R88A CAWA020SR Motors 20m R88A CAWCO20BR Se 100 W to 750 W 30 R88A CAWA030SR 3000 jimin Cylinder 30m R88A CAWC030BR 55 40 R88A CAWA040SR type Motors 1 kW to 2 kw 40m R88A CAWCO40BR es 50 R88A CAWA050SR For Motors 50m
185. K0B Motor model 1 5 1 11 1 21 1 33 1 45 88 100 1 R88G HPG11A05100PB R88G HPG14A11100PB R88G HPG14A21100PBL R88G HPG20A33100PBL R88G HPG20A45100PB R88M GP20030 R88G HPG14A05200PB R88G HPG20A1 1200 R88G HPG20A21200PB R88G HPG20A33200PB R88G HPG20A45200PB R88M GP40030 R88G HPG20A05400PB R88G HPG20A1 1400 2 000 r min Cylindrical Servomotors R88G HPG20A21400PB R88G HPG32A33400PB R88G HPG32A45400PB Motor model R88M G1K020T 1 5 R88G HPG32A053K0B 1 Also used with R88M G3K030T 1 11 1 12 for flange size No 65 R88G HPG32A112K0SBI Also used with R88M G2K020T 1 21 1 20 for flange size 65 R88G HPG32A211KO0SBl 1 33 1 25 for flange size No 65 R88G HPG50A332K0SB Also used with R88M G2K020T 1 45 R88G HPG50A451K0SB R88M G1K520T R88G HPG32A053K0BL Also used with R88M G3K030T R88G HPG32A112KOSBL Also used with R88M G2K020T R88G HPG50A213K0BL Also used with R88M G3K030T R88G HPG50A332K0SB Also used with R88M G2K020T R88M G2K020T R88G HPG32A053K0BL Also used with R88M G3K030T R88G HPG32A112K0SBI R88G HPG50A213K0BI 1 Also used with R88M G3K03
186. L2 omnon R88D GN20H ML2 GN30H ML2 GN50H ML2 RST Three phase 200 to 230 VAC 50 60 Hz Ground to 100 Q or less Noise filter OFF i ON d ndi T1 1MC Nd LL Lid Surge killer x 1MC Servo error display OMNUC G Series AC Servo Drive OMNUC G Series AC Servomotor Power Cable TB1 XB eee 1 Z T Q Lee Bi U V Reactor 9 L1 w L2 18 L Ground to B1 CN2 100 Q or less 3 Regeneration B3 Encoder Cable resistor incen B2 CN1 15 ALM 24VDC 16 ALMCOM X CN1 pag En B 24 VDC User ee CN1 control BKIRCOM device Control Cable 1 Recommended relay MY Relay 24 V by OMRON For example the MY2 Relay s rated inductive load is 2 A at 24 VDC and applicable to all G Series Servomotors with brakes 2 The brake is not affected by the polarity of the power supply 3 Connect B2 B3 for the models with a built in regeneration resistor GNO8H ML2 to GN15H ML2 If the amount of regeneration is large disconnect B2 B3 and connect an External Regeneration Resistor to B1 B2 OMNUC G series AC Servomotors Servo Drives with Buil
187. ML2 Single phase three phase 200 VAG 900 W 1 kW R88D GN15H ML2 1 5 kW 2kW R88D GN20H ML2 2kW R88D GN30H ML2 3 kW 3 kW Three phase 200 VAC 4kW R88D GN50H ML2 4 5 kW 5kW 6kW R88D GN75H ML2 7 5 kW C 5 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNLT ML2 omnon Servomotors 3 000 r min Cylindrical Servomotors Specifications Model Straight shaft Straight shaft with key and tap Note Models with oil seals are also available NEJIN e 3 000 r min Cylindrical Servomotors 50 W R88M G05030H R88M G05030H S2 100W R88M G10030L R88M G10030L S2 hd 200W R88M G20030L R88M G20030L S2 s 400 W R88M G40030L R88M G40030L S2 5 50 W R88M G05030H R88M G05030H S2 E 100W R88M G10030H R88M G10030H S2 200V 200W R88M G20030H R88M G20030H S2 400W R88M G40030H R88M G40030H S2 750 W R88M G75030H R88M G75030H S2 50 W R88M G05030H B R88M G05030H BS2 100W R88M G10030L B R88M G10030L BS2 200 W R88M G20030L B R88M G20030L BS2 g 400 W R88M G40030L B R88M G40030L BS2 50 W R88M G05030H B R88M G05030H BS2 100 W R88M G10030H B R88M G10030H BS2 200 V 200 W R88M G20030H B R88M G20030H BS2 400 W R88M G40030H B R88M G40030H BS2 750 W R88M G75030H B R88M G75030H BS2 Specifications Model Straight shaft Straight shaft with key and tap
188. N20H GN30H GN50H GN50H ML2 ML2 ML2 ML2 ML2 ML2 ML2 ML2 ML2 ML2 ML2 m Brake inertia Kom 2x107 2x107 1 8x109 1 8x109 7 5x109 25x105 33x105 3 3x 105 3 8x105 195x107 135510 GD 4 4 4 Excitation voltage 4 24 VDC 5 24 VDC 10 Power consumption at 20 C w 7 7 9 9 10 18 19 19 19 22 22 Current consumption at 20 C A 0 3 0 3 0 36 0 36 0 42 0 74 0 81 0 81 0 81 0 9 0 9 Static friction torque 0 29 0 29 min 1 27 1 27 min 2 45 min 4 9 min 7 8 7 8 min 11 8 min 16 1 min 16 1 min 5 Attraction time 5 ms 35 max 35 max 50 50 70 max 50 50 50 max 80 110 max 110 max Release time 5 ms 20 20 max 15 max 15 max 20 max 15 max 15 max 15 max 15 max 50 max 50 max 8 Backlash 1 reference value Allowable work per braking J 39 2 39 2 137 137 196 392 392 392 392 1470 1470 x 5 Allowable total work J 4 9x103 4 9x103 44 1 x 108 44 1 x 108 147 103 2 0x105 49 105 49 105 49 105 22x105 2 2 106 Allowable angular 30 000 max 10 000 max anI rad s Speed of 2 800 r min or more must not be changed Speed of 900 r min or more must not be changed in less than acceleration in less than 10 ms 10 ms Brake life _ 10 000 000 operations Rating _ Continuous Insulation grad
189. NK II Communications R88M W R88D WNL ML2 omnon 200 V AC Input Type Three phase Input 100 V AC WNO05H ML2 WN10H ML2 WN15H ML2 WN20H ML2 WN30H ML2 WNASL ML2 WNO1L ML2 WNO2L ML2 WNO4L ML2 3 8A 7 6A 11 6A 18 5A 18 9A 0 66 A 0 91A 24A 2 8A 11 0A 17 0A 28 0A 42 0A 56 0A 21 28 6 5A 8 5A Three phase 200 230 V AC 170 to 253 V 50 60 Hz Single phase 100 115 V AC 85 to 127 V 50 60 Hz Single phase 200 230 V AC 170 to 253 V 50 60 Hz Single phase 100 115 V AC 85 to 127 V 50 60 Hz 27W 55W 92W 120W 155 W 5 2W 12W 16 4W 24W 15W 15W 15W 15W 15W 13W 13W 13W 13W All digital Servo All digital Servo PWM method based on IGBT PWM method based on IGBT 10 667 kHz 8 000 kHz 4 000 kHz 10 667 kHz Approx 1 4kg Approx 1 4kg Approx 2 1 kg Approx 2 8kg Approx 2 8kg Approx 0 7 kg Approx 0 7 kg Approx 0 7 kg Approx 1 4 kg 500 W 1 kW 1 5 kW 2 kW 3 kW 50 W 100 W 200 W 400 W W1K030H W1K530H W2K030H W3K030H W05030H W10030H W20030H W40030H PEE W1KO030T W1K530T W2K030T W3K030T W05030T W10030T W20030T W40030T 29 pes WP1K530H EE EUR WP10030H WP20030H WP40030H Aem an WP1K530T E WP10030T WP20030T WP40030T W30010H e e W1K210H W2K010H W30010T c W1K210T W2K010T W45015T W85015T W1K315T W1K815T mE nd 1 5000 1 5000 0 01 max at
190. NTY NEGLIGENCE OR STRICT LIABILITY In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY REPAIR OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED STORED INSTALLED AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION ABUSE MISUSE OR INAPPROPRIATE MODIFICATION OR REPAIR Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards codes or regulations that apply to the combination of the product in the customer s application or use of the product Take all necessary steps to determine the suitability of the product for the systems machines and equipment with which it will be used Know and observe all prohibitions of use applicable to this product NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT THE OMRON PRODUCT IS PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM PROGRAMMABLE PRODUCTS OMRON shall not be responsible for the user s programming of a programmable product or any consequence thereof Disclaimers CHANGE IN SPECIFICATIONS Product specifications and accessories may be changed at any time based on impro
191. O Monitoring Variables Variables in MC Units can be monitored Present positions and error codes are displayed ns Dh gem pm tn pm Dos Dm tm t Qa we ata nap op Gonnn amp ja TN O Trial Operation Servo lock jogging stepping origin search origin return present position preset error reset absolute origin setting and teaching can be executed using the Support Software Error codes and I O ON OFF status for each axis are displayed This makes it easy to start up and adjust equipment O Motion Program Debugging Motion programs can be run using Support Software Program debugging and corrections are made easy by stopping program execution by setting a breakpoint and then continuing from that point Trial Operation Servo lock jogging stepping origin search origin return present position preset absolute origin setting and teaching can be executed for each axis Error codes are displayed and error reset is executed when an error occurs I O ON OFF status for each axis can be checked by switching tabs faz jal Nj CE ale Aj te zj x Front 11 j me w aun te map oe ai one fon BES Unit trial operation motion program debugging can be executed by switching the Support Software t
192. Physical axes Virtual axes 30 axes max Either can be selected for each axis Dedicated for virtual axes 2 axes Operating modes RUN mode CPU mode Tool mode System Depending on the tool Automatic Manual Mode Automatic mode Executing built in programs of MC Unit controls motion Manual mode Executing commands from CPU Unit PC interface area controls motion Note The Automatic or Manual Mode is set according to the PC Interface area of the CPU Unit Control unit Minimum setting unit 1 0 1 0 01 0 001 0 0001 Units mm inch deg pulse Maximum position command value 2147483648 to 2147483647 pulses signed 32 bit Mode for unlimited axes feeding is possible Example With 16384 pulse rev Minimum setting unit 0 001mm 1 mm rev the position command value range will be from 1310720000 to 131071999 command units Servo lock unlock Executes Servo Drive lock or unlock Jogging Executes continuous feeding independently for each axis by means of speed set in system parameter x override Control operations Origin search based on com Defines the machines origin according to the search method set in the system parameters Can be executed with an absolute encoder mands from the CPU Unit Absolute origin setting Sets the origin when an absolute encoder is used Offset value Signed 32 bit pulses Machine lock Prohibits the output of motion commands to the axes Sing
193. Programmable Terminals NS series Support Tool CX Motion MCH Programmable Controller SYSMAC CS CJ series Motion Control Unit CS1W MCH71 d ul Motion Control Unit CJ1W MCH71 30 axes max 30 axes max overall cable length 50 m mmmmmm A OMNUC W series E 2 f i AC Servo Drive with mil f m General purpose Pulse A or Analog inputs i i k P A1 R88D WT Sensors i i E limit inputs origin i xP d MECHATROLINK II proximity inputs etc v s Application Module 33 33 NA A JUSP NS115 AC Servo motor R88M W OMNUC W series SMARTSTEP Junior AC Servo Drive with AC Servo Drives with Built in MECHATROLINK II Built in MECHATROLINK II Communications Communications R88D WNC ML2 R7D ZNCI ML2 Connect a JEPMC W6022 Terminator to the device AC Servo motor R88M W AC Servo motor R7M Z at the end of the MECHATROLINK II network CS1W MCH71 and CJ1W MCH71 cannot be connected with OMNUC G Series B 1 SYSMAC CJ CS series MECHATROLINK II compatible Motion Control Units CJ1W MCH71 CS1W MCH71 omnon Ordering Information Units No of unit Current consumption Product name Specifications numbers A Model Standards allocated 5V 24V 26V Control modes Position speed or torque control via MECHATROLINK II 0 6 CJ1W MCH71 MECHATROLINK II compatible Control
194. R88A CAWCOSOBR o u 3m R88A CAWBOOSSR with brakes 3m R88A CAWDOOSBR 5m R88A CAWB005SR For 1000 r min Cylinder 5m R88A CAWD005BR E 10m R88A CAWBO10SR type Motors 10m R88A CAWDO10BR BE For Flat type Motors 15m R88A CAWBO15SR E PP enne nder 9 m R88A CAWDOTSBR 52 1 5 kw 20 R88A CAWBO20SR type Motors 1 8 kW 20m R88A CAWDO20BR x 30m R88A CAWB030SR For 3000 r min Cylinder 30m R88A CAWD030BR E 40m R88A CAWB040SR type Motors 3 kW 40m R88A CAWD040BR 50 R88A CAWBOS0SR 50 R88A CAWDOSOBR in Cvli 3m R88A CAWCOOSSR 835 Oyinder m RBBA CAWCOOSSR Encoder Cables 5 300 W to 900 W 10m R88A CAWCO10SR Specifications Model min Cylinder R88A CAWC015SR 3 m R88A CRWA003CR 523 450 W to 1 3 kW 20m R88A CAWC020SR 5m R88A CRWAO05CR For 3000 r min Cylinder 30m R88A CAWCO3O0SR 10m R88A CRWAO10CR 2 type Motors 1 kW to 40m R88A CAWC040SR For 3000 1 min Cylinder type Motors 15m R88A CRWA015CR 55 2kW 50 R88A CAWCOSOSR 100 Wto 1 5kw 20m R88A CRWAO20CR 3m R88A CAWD003SR 30 R88A CRWA030CR Es For 1000 r min Cylinder 5m R88A CAWDOOSSR 40 R88A CRWAO40CR type Motors 10 R88A CAWDO10SR 50 R88A CRWA050CR L2kWto2kW 15m R88A CAWD015SR 3m R88A CRWBOO3NR 2 For 1500 r min Cylinder ve type Motors 1 8 kW 20M eee For 3000 r min Cylinder type Motors BSSACRWB005NR 23 For 3000 r min Cylinder 30m R88A CAWD030SR 1 kW to 3 k
195. Repeated usage 5 5 Continuous usage T T T r min 500 1000 1500 2000 R88M W60010H T 600 W N m 15 7141 13 8 1925 497 Repeated usage 5 68 Continuous usage T T T 1 r min 500 1000 1500 2000 R88M W2K010H T 2 kW N m 50 43 0 40 1825 304 Repeated usage 204 19 1 Continuous usage sd T T T 1 r min 500 1000 1500 2000 R88M W90010H T 900 W N m 20193 abs 154 Repeated usage 125 10 8 62 54 Continuous usage 4s 1 r min T T T 500 1000 1500 2000 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WNL ML2 D 22 Concepts New Product Information Motion Network Lineup CX Drive Servo System Controller Features Motor Selection Program Servomotors and Controllers SEDE Selection Guide Features Position Control Units Controllers Motion Control Units OMNUC G SMARTSTEP Junior omnon Performance Specifications Flat type Servomotors Power supply Specification 200 V AC See note Model R88M WP10030H WP20030H WP40030H WP75030H WP1K530H Item Unit WP10030T WP20030T WP40030T WP75030T WP1K530T Applicable Servo Drive 100 V AC WN01L ML2 WNO2L ML2 WNO4L ML2 R88D 200 V AC WN01H ML2 WN0
196. STEP Junior AC Servo Drive Specifications R88D WN ML2 omnon Performance Specifications Type 200 V AC Input Type Single phase Input Item Model R88D WNA5H ML2 WNO1H ML2 WNO02H ML2 WNO4H ML2 WNO08H ML2 Continuous output current rms 0 66 A 0 91A 21 28 5 5A Momentary maximum output current rms 21 28 6 5 8 5 16 9 Single phase 100 115 V AC 85 to 127 V 50 60 Hz Input power supply Control circuits Single phase 200 230 V AC 170 to 253 V 50 60 Hz Main circuits 4 6 W 67 w 13 3 W 20 W 47 W Heating value Control circuits 13 W 13 W 13 W 13 W 15 W Control method All digital Servo Inverter method PWM method based on IGBT PWM frequency 10 667 kHz Weight Approx 0 7 kg Approx 0 7 kg Approx 0 7kg Approx 0 9 kg Approx 1 4 kg Maximum applicable Servomotor wattage 50 W 100 W 200 W 400 W 750 W W05030H W10030H W20030H W40030H W75030H 3 000 r min EC WO5030T W10030T W20030T W40030T W75030T 3 000 r min WP10030H WP20030H WP40030H WP75030H Applicable Flat style ABS WP10030T WP20030T WP40030T WP75030T Servomo tor R88M e 1 000 r min 1 500 r min ABS Speed control range 1 5000 Load fluctuation rate 0 0196 max at 0 to 10096 at rated rotation speed Perfor Voltage fluctuation rat
197. Sari Drives CX Drive Servo System Controller New Product Information Concepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC G SMARTSTEP Junior omnon 1 500 r min Cylinder type Servomotors without a Brake 200 V AC 450 W 850 W 1 3 kW 1 8 kW R88M W45015T S2 W85015T S2 W1K315T S2 W1K815T S2 Dimensions of output section of Dimensions of shaft end with key S2 450 W to 1 3 kW Servomotors M effective depth l 30 dia b Qk 2 These are the dimensions for the R88M WL S2 with key and tap Dimensions mm in KB KB KL KL Flange dimensions Shaft end dimensions Model 1121112 Dp D2 D F G Z S QK b h t M I R88M W45015TL1 S2 138 65 117 19 5 5 3 R88M W85015TL S2 161 58 88 140 109 88 130 145 11087 165 6 12 9 25 M5 12 R88M W1K315TL1 S2 185 112 164 22h6 6 6 3 5 R88M W1K815TL1 S2 166 79 89 144 140 88 180 200 114 3925 230 3 2 18 13 5 35 60 10 8 5 M12 25 1 500 r min Cylinder type Servomotors with a Brake e 200 V AC 450 W 850 W 1 3 kW 1 8 kW R88M W45015T B S2 W85015
198. Switch Level Setting Pn033 when the Gain Switch Setting Pn031 is set to 3 5 6 9 or 10 The unit for the setting depends on the condition set for the Gain Switch Setting Pn031 Position Loop Gain Switching Time RT This parameter can prevent the position loop gain from increasing suddenly when the position loop gain and position loop gain 2 differ by a large amount Jog Speed Sets the jog operation speed with the Parameter Unit or CX Drive Emergency Stop Input Setting Enables the Emergency Stop Input STOP Origin Proximity Input Logic Setting Sets the logic for the Origin Proximity Input DEC C 49 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GN ML2 omnon 16 bit Positioning Parameters Parameter name Operating Direction Setting Explanation Sets the relationship between polarity of operation data sent over the network and the direction of Servomotor rotation Parameter name Explanation Input Signal Selection Sets the terminal assignment for Drive Prohibit Input Backlash Compensation Selection Enables or disables the backlash compensation for position control and sets the compensation direction Speed Limit Sets the speed limit for torque control mode Backlash Compensation Sets the backlash compensation amount for position control Soft
199. T B S2 W1K315T B S2 W1K815T B S2 LE Dimensions of output section of 450 W to 1 3 kW Servomotors Dimensions of shaft end with key BS2 M effective depth I KL2 KL1 These are the dimensions for the R88M WL1 BS2 with key and tap Dimensions mm Flange dimensions Shaft end dimensions LL LR KB2 KL1 KL2 Model C D1 D2 D3 FG 2 s QK b h ti M R88M W45015T B S2 176 56 154 19h6 5 5 3 R88M W85015T B S2 199 58 79 177 120 88 130 145 1107 165 6 12 9 25 5 12 R88M W1K315T B S2 223 103 201 2216 6 6 3 5 R88M W1K815T B S2 217 79 79 195 146 88 180 200 114 3 025 230 3 2 18 13 5 35 60 10 8 5 M12 25 D 43 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WNL ML2 omnon 1 000 r min Cylinder type Servomotors without a Brake e 200 V AC 300 W 600 W 900 W 1 2 kW 2 kW R88M W30010H S2 W60010H S2 W90010H S2 W1K210H S2 W2K010H S2 R88M W3001 0T S2 W6001 0T S2 W9001 0T S2 W1K210T S2 W2K010T S2 Dimensions of output section of 300 W to 900 kW Dimensions of shaft end with key S2 M effective depth 1 30 dia KL1 KL2 KB1
200. TROLINK II Communications User s Manual Moter Selection Program OMNUC G W series SPCE 959 R88D WNO ML2 R88M W SMARTSTEP2 Junior A series CD ROM W453 SBCE 337 CXONE ALLILIC D V3 CX Drive Operation Manual D 45 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WN ML2 1 1 4 C 1 O C 1 7 O FE O 1 1 1 4 1 i 1 j i StS Sees SS Ses gd gta eo o eS tS corii tec aig as cs asus ws See DEDE cin Re eere ca ear i i 0 0 j GO I ie v NAT a PM OS a Oe ee el h b i Re h FM Sots cf es ky Slate F ZZ Sk gf Re D el s SS uku i
201. W 10m R88A CRWBO10NR E type Motors 3 kW 40m R88A CAWD040SR For 1500 r min Cylinder type Motors 15m R88A CRWBO15NR Ss 50 R88A CAWDOSOSR 450 W to 1 8 kW 20 R88A CRWBO20NR COR 3m R88A CAWA003BR For 1000 r min Cylinder type Motors 30m R88A CRWBO30NR 5m R88A CAWAO005BR In 40 R88A CRWBO40NR For 3000 r min Cylinder 10m R88A CAWAO10BR 50m R88A CRWBO50NR o type Motors 15m R88A CAWAO15BR gt 30 W to 750 W For Flat type Motors 20 R88A CAWA020BR 100 W to 750 W 30 R88A CAWA030BR o 40m R88A CAWA040BR For Motors 50m R88A CAWA050BR with brakes 3m R88A CAWB003BR 5m R88A CAWBOOSBR 10m R88A CAWBO10BR For Flat type Motors 15m R88A CAWBO15BR 1 5 kW 20m R88A CAWBO20BR 30 R88A CAWBOSOBR a 40 R88A CAWB040BR 55 50m R88A CAWBOSOBR a lt 5 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WNL I ML2 D 10 omnon Servomotors and Decelerators Combinations Interpreting the Servomotor Combination Tables First check the Servomotor and Decelerator Combinations table to see whether or not the planned combination is possible Then check the tables for Servomotor categories El to to see whether or not specific configurations are possible The model configurations are shown based on the Servomotor capacity and the optional Decelerator ratio specifications Servomotor Decelerator Combinations
202. We P i M depth L Model R88M G4K020T R88M G5K020T R88M G4K020T B R88M G5K020T B Note The standard models have a straight shaft A model with a key and tap is indicated by adding S2 to the end of the model number OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GN ML2 C 58 Concepts New Product Information Motion Network Lineup Controller Features Servo System Servomotors and Controllers Servo Drives CX Drive E Selection Guide Motor Selection Program eatures Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior omnon 1 500 r min Cylindrical Servomotors e 7 5 kW ABS Brake connector R88M G7K515T S2 Motor Eye bolt R88M G7K515T B 52 connector Nominal diameter 10 Dimensions of shaft end XN LL 113 176 x 176 with key and tap 2432 amp Four 13 5 dia connector ri 3 IEEE 12h9 z LL 418 Luo R88M G7K515T 340 5 L 8 ll R88M G7K515T B 380 5 M16 depth 32 Note The standard models have a straight shaft A model with a key and tap is indicated by adding S2 to the
203. al turns ON Zero point return approach speed 2 Sets the origin search speed after the deceleration limit switch signal turns OFF Final travel distance to return to zero point Sets the distance from the latch signal input position to the origin for when origin search is executed Note If the final travel distance is in the opposite direction from the origin return direction or if the distance is short opera Note 1 The normal setting is 0 When using an External Regeneration Resis tor set the External Regeneration Resistor capacity W 2 The upper limit is the maximum output capacity W of the applicable Servo Drive D 37 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WNL ML2 omnon Dimensions Unit mm AC Servo Drives e 200 V AC R88D WNAS5H ML2 WNO01H ML2 WNO2H ML2 50 W 100 W 200 W e 100 V AC R88D WNASL ML2 WNO1L ML2 WNO2L ML2 50 W 100 W 200 W Mounting Holes ES D 5 eris E er i e ce c 139 5 0 5 150 ow 5 jov sl 32 05 8 18 e 200 V AC R88D WNO4H ML2 400 W Mounting Holes
204. anation Selects the data to be displayed on the 7 segment LED display on the front panel Torque Limit Selection Selects the torque limit function or the torque feed forward function during speed control Drive Prohibit Input Selection Selects the function for the Forward and Reverse Drive Prohibit Inputs CN1 POT pin 19 NOT pin 20 Communications Control Controls errors and warnings for MECHATROLINK II communications Power ON Address Display Duration Setting Sets the duration to display the node address when the control power is turned ON Speed Monitor SP Selection Selects the output to the Analog Speed Monitor SP on the front panel Torque Monitor IM Selection Selects the output to the Analog Torque Monitor IM on the front panel Prohibit Parameter Changes via Network Allows prohibits parameter changes via the network Overrun Limit Setting Sets the Servomotor s allowable operating range for the position command input range Instantaneous Speed Observer Setting RT The Instantaneous Speed Observer improves speed detection accuracy thereby improving responsiveness and reducing vibration when stopping Notch Filter 2 Frequency Sets the notch frequency of notch filter 2 for resonance suppression Notch Filter 2 Width Selects the notch width of notch filter 2 for resonance suppression Notch Filter 2 Depth Selects the notch dept
205. aring parameters test runs and tuning and monitoring and data tracing for Inverters and Servos OMNUC G Series SMARTSTEP2 Series are supported 2008 5 ll System Configuration Example Programmable Controller SYSMAC CS CJ series Position Control Unit CS1W NC 71 MECHATROLINK II Note With the servo driver It becomes 1 1 connections Wavy monitor when gain is adjusted OMNUC G series AC Servo Drive with Built in MECHATROLINK II Communications rem w ass sup r FOE seer Anas Parameter Editing Functions Dem O OUI it Easy and Dependable Parameter Editing for Inverters and Servos Easily Check Drive Parameters and Upload Download Only Selected Parameters Edit Parameters in Graphic Form Display Parameters in Diagrams L DX RETE EDEN V l D i i i l l lli O 489 Bee ei A egypar c 7 Nake adjustments for Servos and perform testing east TXTLEH NEC Servo autotuning R7D AP and R88D WT only Servo test operation R7D AP and R88D WT only Servo offset adjustment R7D AP and R88D WT only Servo absolute encoder setting R88D WT only ese 7 a Data Tracing as Easy as Operating an Oscilloscope Enables detailed analysis of waveforms for speed torque or other values Note A realtime trace function is
206. be connected to B1 B2 C 45 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNLT ML2 I O Circuit Diagrams omnon Control Input Circuits Control Inputs For the relay contact use either a switch or a transistor with an open collector output External power supply 12 VDC 5 to 24VIN 1 4 70 24 VDC 5 Power supply capacity To other input circuit ground commons other input circuits ay C Photocouple input 50 mA min per Unit Signal Levels ON level 10 V min OFF level 3 V max Control Output Circuits Control Outputs Servo Drive To other output circuits I I 91 External power supply 1 24VDC 1 V Li Ne lo Di i Maximum operating voltage 30 VDC Maximum output current 50 mA BAG EM fa M Di T Di Diode for preventing surge voltage Use high speed diodes OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GN ML2 C 46 Si tors and Sear DH CX Drive Servo System Controller New Product information apts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior Components and Functions omnon Servo Drive Pa
207. c pet ou c 7 UU UY UU xe U IE I UU i i i i f surga np iC Qhasa oak a a uum Si bak ES y Koa w bu Ayas gy sc a poq I i 1 O 4 1 1 O 42 FE O IS 1 1 O O 377 C IO O C 77 41 i i i cR AK kaq ELS EM M E CR P MEC MSR a M dC iy malate a et tS L 1 f i i t 1 Deme ipt eae creep maritum Uc eae epg T et l i i i i i t i Beit de Eee ee a ee ol ee he bebe G St eee eee tasu S Se a pu s b S cute ees
208. cal Servomotors The empty boxes in the model N MS3106B20 18S 2 000 r min 1 to 1 5 kW number are for the cable length Japan Aviation Electronics Industry Ltd ARE RES The cable can be 3 5 10 15 20 Cable clamp Cylindrical Servomotors 30 40 or 50 m lon Electronics Industry Ltd 1 000 r min 900 W g Japan Aviation Electronics Industry Ltd go L Standard Cylindrical Servomotors PSS A CAGCOMEB Se seed Servomotor Power 3 000 r min 2 kW The empty boxes in the model z Cables for Servomotors number are for the cable length p Sx IT Japan Aviation Electronics Industry Ltd Servomotors with 2 000 r min 2 kW The cable can be 3 5 10 15 20 EN R Cable clamp Brakes i 30 40 or 50 m long e Japan Aviation Electronics Industry Ltd X Cylindrical Servomotors 3 000 r min 3 to 5 kW R88A CAGD B The empty boxes in the model 14 7 dia Servomotor Connector Straight plug Robot Servomotor Power Cables for Servomotors without Brakes lindrical Servomotors S 53106 24 115 Cy 19 number for the cable length E Y S Japan Aviation Electronics Industry Ltd 2 000 r min 3 to 5 kW q 1 9 Cable clamp The cable can be 3 5 10 15 20 A Cylindrical Servomotors 30 40 or 50 m lon Cm
209. cs Industry Ltd Cylindrical Servomotors 3 000 r min 3 to 5 kW Cylindrical Servomotors 2 000 r min 3 to 5 kW Cylindrical Servomotors 1 000 r min 2 to 4 5 kW R88A CAGDi SR The empty boxes in the model number are for the cable length The cable can be 3 5 10 15 20 30 40 or 50 m long 405 dia Servomotor Connector Straight plug N MS3106B22 22S Japan Aviation Electronics Industry Ltd Cable clamp N MS3057 12A Japan Aviation Electronics Industry Ltd Robot Servomotor Power Cables for Servomotors with Brakes OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GN Oylindrical Servomotors 3 000 r min 1 to 1 5 kW Oylindrical Servomotors 2 000 r min 1 to 1 5 kW Oylindrical Servomotors 1 000 r min 900 W R88A CAGBLILILIBR The empty boxes in the model number are for the cable length The cable can be 3 5 10 15 20 30 40 or 50 m long 12 7 dia M M Servomotor Connector Straight plug N MS3106B20 18S Japan Aviation Electronics Industry Ltd Cable clamp N MS3057 12A Japan Aviation Electronics Industry Ltd Cylindrical Servomotors 3 000 r min 2 kW Cylindrical Servomotors 2 000 r min 2 kW R88A CAGC BR The empty boxes in the model number are for the cable length The cable can be 3 5 10 15 20
210. d Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WN ML2 Sequence Parameters from Pn500 Parameter name Explanation Rotation speed for motor rotation detection Sets the number of rotations for the Servomotor rotation detection output TGON Parameter name Program JOG movement speed omnon Explanation Sets the program JOG operation movement speed Speed conformity signal output width Sets the allowable fluctuation number of rotations for the speed conformity output VCMP Program JOG acceleration deceleration time Sets the acceleration deceleration time for program JOG operation Brake timing 1 Sets the delay from the brake command to the Servomotor turning OFF Program JOG waiting time Sets the delay time from the program JOG operation start input until operation starts Brake command speed Sets the number of rotations for outputting the brake command Number of program JOG movements Sets the number of repetitions of the program JOG operations Brake timing 2 Sets the delay time from the Servomotor turning OFF to the brake command output Gain limit Sets the gain limit Momentary hold time Sets the time during which alarm detection is disabled when a power failure occurs Analog monitor 1 offset voltage Sets the analog monitor 1 offset voltage Input signal sel
211. d is the value at the center of the shaft 3 Use this Decelerator in combination with a Servomotor with a straight shaft and no key 4 The Decelerator noise level is 79 dB D 25 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WN ML2 Specifications for Servomotors with Decelerators omnon 3 000 r min Servomotors with Standard Decelerators 50 W to 3 kW Note 1 The Decelerator inertia is the Servomotor shaft conversion val 2 The enclosure rating for Servomotors with Decelerators is IP55 for 30 to 750 W models and IP44 for 1 to 5 kW models 3 The maximum momentary rotation speed for the motor shaft of Servomotors with Decelerators is 4 000 r min 4 The al Servomotors AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WN ue Rated Rated Ratio peated Decelera Allowable Allowable Miete 3 Model speed torque tary speed tary torque t0 inertia radial load thrust load ithout With y sp y torq brake
212. d r min 4500 Max momentary torque N m 0 955 1 91 3 82 7 16 Rated current A rms 0 84 1 1 2 0 3 7 Max momentary current A rms 2 5 3 3 6 0 11 1 Rotor inertia kom 6 34 x 10 9 3 30 x 105 6 03 x 10 5 1 50 x 10 GD 4 Power rate kW s 16 0 12 3 26 7 38 1 Allowable radial load N 78 245 245 392 Allowable thrust load N 54 74 74 147 Weight Without brake kg 0 5 0 9 13 26 With brake kg 0 7 1 5 1 9 3 5 Radiation shield dimensions material t6 x 250 x 250 Al Applicable load inertia See note kg m 6 0 x 10 5 9 5x 3 0 x 10 9 1x 5 0 x 10 8 3x 1 0 x 10 3 6 7x Brake inertia kgm 7 54 x 10 7 6 4 x 10 9 6 4 x 109 1 71 x 105 GD2 4 Excitation voltage V 24 VDC 10 73 Brake 0 25 0 29 0 29 0 32 specifica Staticifriction 0 318 0 637 1 27 2 45 min torque Attraction time ms 60 max 80 max Release time ms 30 max 20 max Backlash 1 max Rating Continuous Note Use within the applicable load inertia range Operation may not be stable ouside of this range E 9 SMARTSTEP Junior AC Servomotors and Servo Drives with Built in MECHATROLINK II Communications R7M Z R7D ZN ML2 Torque and Rotation Speed Characteristics omnon The following graphs show the characteristics with a 3 m standard cable and a 200 V AC input R7M Z20030 S1 200 W R7M Z10030 S1 100 W N m N m 1 04 2 0 4 1 91 1 9
213. d with the Comprehensive Data Trace Function Functionality and operability has been significantly upgraded compared to the previous data trace function The new data trace 4 Easy programming with function provides comprehensive debugging such as I O comment the CX Programmer display of sampled addresses specification using symbols checking the measurement time between two selected points and layering waveforms Furthermore data sampled from the CPU Unit s trace memory can be saved to a file on the computer at a specified frequency This can be used as for long term logging of data Concepts New Product Information Motion Network Lineup t 9 ho 9 x 42 o Sampled values from a specific word will be displayed CJ CS NCL 171 Function Blocks FB g A wide variety of function blocks are available ed Rea og Using function blocks helps reduce programming work input bit will be gu displayed x Examples Origin search read parameter ABSOLUTE RELATIVE MOVEMENT command The traced waveforms speed control torque control linear interpolation and interrupt feeding Dus displayed as 9 E 659 kl 9 gt lt o OMRON Standard Librari 205 OMRON Standard Libraries software applications that customers can load into the
214. ds FNY W6003 OC OMRON model number MECHATROLINK II Repeater Using the CJ1W MCH71 or CS1W MCH71 Maximum transmission distance 0 to 30 m 30 to 50 m 1to 15 Repeater not required Repeater not required SYSMAC CS series PLC Number of connected 16 Repeater not required Repeater required devices 17 to 30 Repeater required Repeater required Using the CJ1W NCF71 or CS1W NCF71 Maximum transmission distance 0to 30m 30 to 50 50to 100m CS1W NC Number of 1 to 15 Repeater not required Repeater not required Repeater required connected FGDSaSr not d devices 16 lepeater not required Repeater required Support Software CX One FA Integrated Tool Package Support for the CJ1W NC271 NC471 and CS1W NC271 NC471 version 1 10 or higher by the CX Motion NCF is available through auto updates for Including CX Motion MCH and CX One version 2 CX Motion NCF version 1 7 or CX One X Motion NCF and CX Drive version 3 CX Motion NCF version 1 8 The auto updates are available from the end of September 2008 D 1 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WNL ML2 e High speed high precision motion control No deviation control and predic tive control are provided for high tracking capability Note 1 MECHATROLINK II is a
215. e Type B Type F 1 These are the values when the Servomotor is combined with a Servo Drive at room temperature 20 C 65 The maximum momentary torque shown above indicates the standard value 2 Applicable Load Inertia The operable load inertia ratio load inertia rotor inertia depends on the mechanical configuration and its rigidity For a machine with high rigidity operation is possible even with high load inertia Select an appropriate motor and confirm that operation is possible If the dynamic brake is activated frequently with high load inertia the dynamic brake resistor may burn Do not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled 8 The allowable radial and thrust loads are the values determined for a service life of 20 000 hours at wae temperatures The allowable radial loads are applied as shown in the following Reda load This is an OFF brake It is reset when excitation voltage is applied Thrust load 5 The operation time is the value reference value measured with a surge suppressor CR50500 manufactured by Okaya Electric Industries Co Ltd Center of shaft LR 2 C 27 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNL ML2 Torque and Rotation Speed Characteristics omnon 3 000 r min Cylindrical Servomotors e 3 000 r min Servomotors with 200 VAC Power Input The following graphs show the characteristics with a 3 m
216. e Origin return deceleration A DEC 9 513 switch signal This is the deceleration input for origin return 7 511 Forward drive prohibit input Forward rotation overtravel input NOT 8 SI2 Reverse drive prohibit input Reverse rotation overtravel input EXT1 10 S14 External latch signal 1 101012 ExT2 11 515 External latch signal 2 This is the external signal input for latching the present feedback pulse counter EXT3 12 SI6 External latch signal 3 Sequence signal control vt 6 24VIN power supply This is the 24 VDC power supply input terminal for sequence inputs pin Nos 7 to 13 14 BAT These are the battery connection terminals for the absolute encoder power backup Backup battery inputs 25 Note Connect the battery either to these terminals or to the absolute encoder battery cable 15 Not allocated 13 510 General purpose input This terminal can be monitored in the MECHATROLINK II I O monitor field Note The numbers in parentheses show the default pin number allocations The terminal name is shown in brackets CN1 Control Outputs Pin No Signal Name Function and interface ALM Alarm output When an alarm is generated for the Servo Drive the output is OFF ALMCOM INP1 itioni completed ON when the position deviation is within positioning completed range 1 Pn522 INP1COM output INP2 itioni completed ON
217. e 0 at rated voltage 10 at rated rotation speed mance Temperature fluctuation rate 0 1 max at 0 to 50 C at rated rotation speed Frequency characteristics 600 Hz See note Torque control repeatability 1 General Specifications Item Ambient operating temperature Note At a load inertia equivalent to the Servomotor s rotor inertia 0 to 55 C Specifications Ambient operating humidity 90 with no condensation Ambient storage temperature 20 to 85 C Ambient storage humidity 90 with no condensation Storage and operating atmosphere No corrosive gases Vibration resistance 10 to 55 Hz in X Y and Z directions with 0 1 mm double amplitude acceleration 4 9 m s max Shock resistance Acceleration 19 6 m s max in X Y and Z directions three times Insulation resistance Between power supply power line terminals and frame ground 0 5 MQ min at 500 V DC Dielectric strength Between power supply power line terminals and frame ground 1 500 V AC for 1 min at 50 60 Hz Between each control signal and frame ground 500 V AC for 1 min Degree of protection Built into panel IP 10 EMC EN55011 class A group 1 EC EN61000 6 2 International etes Low voltage EN50178 standards directive UL standards UL508C cUL standards cUL C22 2 No 14 D 15 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLI
218. e FA Integrated Tool Package for Ver 2 0 Including CX Motion NCF See Note 3 and CX Drive NEW Note 3 The CX Motion NCF is supported from version 1 6 Note 4 Support for the CJ1W NC271 NC471 and CS1W NC271 NC 471 by the CX Motion NCF is available through auto updates for CX One version 2 CX Motion NCF version 1 7 or CX One version 3 CX Motion NCF version 1 8 The auto updates are available from the end of September 2008 1 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNLT ML2 omnon AC Servo Drives Connector Terminal Block 1 0 signals Conversion Units and Cable e Connector Terminal Block Conversion Unit Power Cables XW20 20G0 gt e Standard Cables Without Brake R88A CAG I With Brake R88A CAG T Ii __ Robot Cable Without Brak e OMNUC G series RABBA CAGI AC Servo Drive With Brake _ xe R88D GN R88A CAG AC Servomotors Motor power signals e Model without Decelerators R88M G feedback signals Encoder Cables e Standard Cables 50 W to 750 W 88 900 W to 7 5 kW R88A CRGCLILILIN e Robot Cables NEW 50 W to 750 W R88A CRGOOOC 900 W to 7 5 kW R88A CRGCI
219. e amplified by mechanical resonance Do not exceed 80 of the specified value for extended periods of time 2 UL application pending for motor sizes from 6 to 7 5 kW Note 1 Do not use the cable when it is laid in oil or water Note 2 Do not expose the cable outlet or connections to stress due to bending or the weight of the cable itself OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GN ML2 C 24 S tors and dervo Dues CX Drive Servo System Controller New Product Information Concepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior Servomoter Specifications R88M G omnon Characteristics 3 000 r min Cylindrical Servomotors 100 VAC Input Power 2 3 4 35 Model R88M G05030H G10030L G20030L G40030L Item Unit G05030T G10030S G20030S G40030S Rated output 1 w 50 100 200 400 Rated torque 1 N m 0 16 0 32 0 64 1 3 Rated rotation speed r min 3000 Max momentary rotation speed r min 5000 Max momentary torque 1 N m 0 45 0 93 1 78 3 6 Rated current 1 A rms 1 1 1 7 2 5 4 6 Max momentary current 1 A rms 3 4 5 1 7 6 13 9 Rotor inertia 2 5x 1
220. e ms 60 max 60 max 40 max 40 max 100 max 100 max 100 ax 100 max Backlash 1 reference value Rating Continuous Insulation grade F Note When using W series Servomotor with built in MECHATROLINK II communications use a 200 VAC Servomotor regardless of whether the Servo Drive is 200 VAC or 100 VAC D 17 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WNL ML2 omnon General Specifications 3 000 r min Cylinder type Servomotors 3 000 r min Servomotors Item 50 to 750 W 1103 kW Ambient operating temperature 0 to 40 C Ambient operating humidity 20 to 80 with no condensation Ambient storage temperature 20 to 60 C Ambient storage humidity 20 to 80 with no condensation Storage and operating atmosphere No corrosive gasses Vibration resistance 10 to 2 500 Hz in X Y and Z directions with 10 to 2 500 Hz in X Y and Z directions with acceleration 49 m s max acceleration 24 5 m s max Shock resistance Acceleration 490 m s max in X Y and Z directions two times Insulation resistance Between power line terminals and FG 10 MQ min at 500 V DC Dielectric strength Between power line terminals and FG 1 500 V AC for 1 min at 50 60 Hz Run position All directions Insulation grade Type B Type F Structure Totally enclosed self cooling Degree of
221. e the axis is Interrupt feeding moving Speed control Performs speed control by sending a command to the Servo Drive speed loop Torque control Performs torque control by sending a command to the Servo Drive current loop pal Deceleration stop Decelerates the moving axis to a stop Stop functions Emergency stop Positions the moving axis for the number of pulses remaining in the deviation counter and then stops the axis Sets of the following trapezoidal linear curve an exponential curve or an S curve moving average tion curves Torque limit Restricts the output torque during axis operation Multiplies the axis command speed by a specified ratio Override Override 0 01 to 327 67 2n parametertrans Reads and writes the Servo Drive parameters from the ladder program in the CPU Unit EC Monitors the control status of the Servo Drive such as the command coordinate positions feedback position current Monitoring function speed and torque Software limits Limits software operation within the positioning range during position control Backlash compensation Compensates for the amount of play in the mechanical system according to a set value Control Unit One MECHATROLINK II interface port External I O Forward reverse rotation limit inputs origin proximity inputs external interrupt inputs 1 to 3 be used as external Servo Drive I O origin inputs Self diagnostic functions Watchdo
222. ecified time TRAVERSE MOVETRAV Executes a winding operation CAN CIPIT ELECTRONIC CAM Executes cam operations according to a table LINK MOVELINK Synchronizes with the main axis with acceleration and deceleration ELECTRONIC CAMBOX Executes a cam operation according to a table and main axis Starting and ELECTRONIC SHAFT CONNECT Synchronizes at fixed rate to main axis stopping FOLLOW UP SYNCHRONIZATION SYNC Follows and synchronizes with the main axis axis operations STOP SYNCHRONIZATION SYNCR Stops MOVELINK CAMBOX CONNECT and SYNC ADD AXIS TRAVEL ADDAX ADDAXR Starts and stops the accumulation of travel amounts between axes START SPEED END SPEED SPEED SPEEDR Outputs and stops a speed reference START TORQUE END TORQUE TORQUE TORQUER Outputs and stops a torque reference CHANGE TARGET MOVEMODI Changes the target position for the axis that is travelling ABSOLUTE SPECIFICATION INCREMENTAL SPECIFICATION ABL INC Handles coordinates as absolute or incremental values CHANGE PARAMETER PARAM Changes parameter values at one time PASS MODE PASSMODE Specifies operations with interpolation blocks connected STOP MODE STOPMODE Waits for the interpolation block to be in position Settings SELECT MACHINE COORDINATE SYSTEM SELECT WORKPIECE ORIGIN WORK coordinate system or the workpiece COORDINATE SYSTEM eal CHANGE WORKPIECE ORIGIN OFFPOS Changes the offset of the workpiece coordinate system OFFSET LATCH LATCH Latches the pre
223. ections 1 POT forward drive prohibited input signal Input terminal allocation Analog monitor 2 offset voltage Sets the analog monitor 2 offset voltage Input signal selections 2 NOT reverse drive prohibited input signal Input terminal allocation Output signal selections 1 INP1 positioning completed 1 signal output terminal allocation VCMP speed conformity signal output terminal allocation TGON servomotor rotation detection signal output terminal allocation READY servo ready signal output terminal allocation Output signal selections 2 CLIMT current limit detection signal output terminal allocation VLIMT speed limit detection signal output terminal allocation BKIR brake interlock signal output terminal allocation WARN warning signal output terminal allocation Output signal selections 3 INP2 positioning completed 2 signal output terminal allocation Input signal selections 5 DEC signal input terminal allocation EXT1 signal input terminal allocation EXT2 signal input terminal allocation signal input terminal allocation Output signal reverse Output signal reverse for CN1 pins 1 2 Output signal reverse for CN1 pins 23 24 Output signal reverse for CN1 pins 25 26 Deviation counter overflow warning level Sets the detection level for the deviation counter overflow warning A warning is
224. ectronic shaft electronic cam electronic link following Hi System Configuration Example Programmable Terminals NS series Support Tool CX Motion MCH Motion Control Unit if CS1W MCH71 A m m m m m m Programmable Controller SYSMAC CS CJ series u Motion Control Unit CJ1W MCH71 30 axes max 50m max 30 axes max overall cable length 50m IER i m i OMNUC W series AC Servo Drive with General purpose Pulse or Analog inputs R88D WT dis MECHATROLINK II Application Module Sensors llimit inputs origin proximity inputs etc Lp 4 E E OMNUC W SMARTSTEP du i NE series unior AC Servo Drives with AC Servo Drives with RCM motor Built in MECHATROLINK II Built in MECHATROLINK II Communications Communications R88D WN ML2 R7D ZN ML2 Connect a JEPMC W6022 Terminator to the device AC Servo motor R88M W AC Servo motor R7M Z at the end of the MECHATROLINK II network note OMNUC G series cannot be connected with CS1W MCH71 and CJ1W MCH71 Front 9 Motion Control Units and Synchronized Control Required for Control Up to 30 Servo Axes Features CY Easy System Configuration x Concepts Multi axis control is made easy by freely combining control axes Up to 32 axes can be used including 30 physical axes and two virtual axes and each axis can be set individually A wide variety
225. ed usage Continuous usage 2770 204 17 1 104 447 26 4 2870 24 6 Repeated usage 11 5 5 80 Continuous usage r min 0 T T T T T 500 1000 1500 2000 2500 3000 T T T T T 500 1000 1500 2000 2500 3000 r min 0 ML2 T T T T r min 500 1000 1500 2000 2500 3000 D 20 New Product Information Concepts Controller Servomotors and Controllers CX Drive Servo System eet Motor Selection Program Features Features Position Control Units Controllers Motion Control Units Motion Network Lineup OMNUC G SMARTSTEP Junior omnon Performance Specifications 1 000 r min Cylinder type Servomotors General Specifications 1 000 r min Cylinder type Servomotors Power supply specification 200 V AC 1 000 r min Servomo t Model R88M w30010H we0010H W90010H W1K210H W2K010H a Ambient operating Unit W30010T W60010T W90010T W1K210T W2K010T temperature 0 to 40 C Applicable Servo Drive R88D SET 5H MNT Ambient operating 20 to 8096 2 2 2 2 2 with no condensation Rated output w 300 600 900 1200 2000 Ambient storage EAM Rated torque N
226. eed loop feedback gain Position integral time constant Position loop integral time constant Gain switching time 1 Switching time from No 1 gain to No 2 gain Gain switching time 2 Switching time from No 2 gain to No 1 gain Gain switching waiting time 1 The time from when gain switching condition A is satisfied until switching from the No 1 gain to the No 2 gain begins Gain switching waiting time 2 The time from when gain switching condition B is satisfied until switching from the No 2 gain to the No 1 gain begins Automatic gain changeover related switches 1 Gain switching selection switch Gain switching condition A Gain switching condition B Predictive control selection switches Predictive control selection Predictive control type Predictive control acceleration deceleration gain Adjusts acceleration and deceleration response for predictive control Predictive control weighting ratio Adjusts position deviation for predictive control Servo rigidity Adjusts the Servo rigidity for the No 1 gain Servo rigidity 2 Adjusts the Servo rigidity for the No 2 gain Speed feedback filter time constant Sets the filter time constant for No 1 gain speed feedback Speed feedback filter time constant 2 Sets the filter time constant for No 2 gain speed feedback Torque command filter time constant 2 Sets the filter ti
227. end of the model number 1 000 r min Cylindrical Servomotors e 900 W 2 kW Encoder connector R88M G90010T S2 R88M G2K010T S2 connector R88M G90010T B S2 LL LR R88M G2K010T B S2 Cx GC Dimensions of shaft end with key and tap Four Z dia 3 iz 25 a Model LL LR s D1 D2 C D3 F G KL1 z QK b h ti M L R88M G90010T 175 70 22 145 110 130 165 6 12 118 9 41 8h9 7 4 M5 12 R88M G2K010T 182 80 35 200 114 3 176 233 3 2 18 143 13 5 50 10h9 8 5 M12 25 R88M G90010T B 200 70 22 145 110 130 165 6 12 118 9 41 8h9 7 4 M5 12 R88M G2K010T B 207 80 35 200 1143 176 233 3 2 18 143 13 5 50 10h9 8 5 M12 25 Note The standard models have a straight shaft A model with a key and tap is indicated by adding S2 to the end of the model number 3 kW R88M G3K010T S2 Servomotor brake Dimensions of shaft end R88M G3K010T B S2 connector LL 80 with key and tap 50 Encoder connector 4 2 Four 13 5 dia iT C Model LL ee CON i R88M G3K010T 222 3 R88M G3K010T B 271 D M12 depth 25 Note The standard models have a straight shaft A model with a key and tap is indicated by adding S2
228. epts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior omnon Servomotor Specifications R88M G Characteristics 2 000 r min Cylindrical Servomotors 200 VAC Input Power 2 3 4 5 Model R88M ums UM G1K020T G1K520T G2K020T G3K020T G4K020T G5K020T G7K515T Rated output 1 w 1000 1500 2000 3000 4000 5000 7500 Rated torque 1 N m 4 8 7 15 9 54 14 3 18 8 23 8 48 Rated rotation speed r min 2000 1500 Max momentary rotation speed r min 3000 2000 Max momentary torque 1 N m 13 5 19 6 26 5 41 2 54 9 70 6 111 Rated current 1 A rms 5 6 9 4 12 3 17 8 23 4 28 46 6 Max momentary current 1 A rms 17 1 28 5 37 1 54 2 71 4 85 7 117 8 Rotor inertia ES 6 17 x 104 1 12 x 103 1 52 x 103 2 23 x 103 4 25 x 103 6 07 x 103 9 9 x 103 Applicable load inertia 10 times the rotor inertia max 2 Torque constant 1 N m A 0 88 0 76 0 78 0 81 0 81 0 85 1 03 Power rate 1 kW s 37 3 45 8 60 91 6 83 2 93 5 230 Mechanical time constant ms 0 7 0 81 0 75 0 72 1 0 9 0 71 Electrical time constant ms 18 19 21 20 24 32 34 Allowable radial load N 490 490 490 784 784 784 1176 Allowable thrust load 3 N 196 196 196 343 343 343 490 Weight Without brake kg
229. ervo OFF to when the Brake Interlock BKIR signal is turned OFF Regeneration Resistor Selection Sets the regeneration resistor operation and the regeneration overload alarm code 18 operation Set this parameter to 0 if using the built in regeneration resistor Moving Average Time Sets the moving average time for position commands Origin Return Mode Settings Sets the direction for origin return Origin Return Approach Speed 1 Sets the operating speed for origin return from when the origin proximity signal is turned ON to when it is turned OFF and the latch signal is detected Origin Return Approach Speed 2 Sets the operating speed for origin return from when the latch signal is detected to when the Origin Return Final Distance Pn204 is reached General purpose Output 1 Function Selection Selects the function for general purpose output 1 OUTM1 General purpose Output 2 Function Selection Selects the function for general purpose output 2 OUTM2 The set values and the functions are the same as for general purpose output 1 OUTM1 General purpose Output 3 Function Selection 32 bit Positioning Parameter name Absolute Origin Offset Selects the function for general purpose output 3 OUTM3 The set values and the functions are the same as for general purpose output 1 OUTM1 Parameters Explanation Sets the offset amount for the encoder position and t
230. es rotation Phase Z 1 pulse rotation Power supply voltage 5 5 Power supply current 180 mA max Output signals S S Output interface RS 485 compliance Absolute Encoders Encoder system Optical encoder Specifications 17 bits No of output pulses Phases A and B 32 768 pulses rotation Phase Z 1 pulse rotation Maximum rotations 32 768 to 32 767 rotations or 0 to 65 534 rotations Power supply voltage 5 VDC 5 Power supply current 110 mA max Applicable battery voltage 3 6 VDC Current consumption of battery 180 uA for a maximum of 5 s right after power interruption 100 uA for operation during power interruption 3 6 uA when power is supplied to Servo Drive Output signals S S Output interface RS 485 compliance External Regeneration Resistors Specifications Nominal pegenerauon Heat radiation Model Resistance E absorption for 120 C e Thermal switch output specifications capacity temperature rise R88A RR08050S 500 Aluminum 250 x 250 Operating temperature 150 C 5 NC contact 80W 20 W I R88A RR080100S 100 Q Thickness 3 0 Rated output 30 VDC 50 mA max Aluminum 350 x 350 Operating temperature 170 5 NC contact 20 W 9 Thickness 3 0 Rated output 250 VAC 0 2 A max Operating temperature 200 C 7 NC contact R88A RR50020S 200 5
231. es the allowable rated torque for the decelerator Do not exceed this value Note 1 The Decelerator inertia is the Servomotor shaft conversion value Note 2 The protective structure for Servomotors with Decelerators satisfies OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GN IP44 Note 3 The allowable radial load is the value at the LR 2 position Note 4 The standard models have a straight shaft Models with a key and tap are indicated with J at the end of the model number the suffix in the box ML2 C 36 S tors and NOSE ieee CX Drive Servo System Controller New Product Information Co ncepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior omnon Decelerators for 1 000 r min Servomotors ELT Efficiency FRONTE Dec glerator MUT Weight Model speed orgue rotation speed torque load load r min N m r min N m kg m N N kg 1 5 R88G HPG32A05900TB 200 39 9 93 400 85 2 3 80 x 104 889 3542 7 9 1 11 R88G HPG32A11900TB 90 89 0 94 182 190 1 3 40 x 10 4 1126 4488 8 4 heb 1 21 R88G HPG50A21900TB 47 169 8 94 95 362 4 7 00 x 104 3611 12486 19 1 1 33 R88G HPG50A33900TB 30 268 5 94 60 573 2 5 90 x 104 4135 14300 19 1 1 5 R88G HPG32A052K0TB
232. eversal e e 101 Without origin proximity Absolute Encoder Origin Search Enabled pieni lin Ox Easily handle origin problems R88D WN ML2 R88D GN _ ML2 only proximity input signal cid The zero point position offset for the absolute encoder Combinations supported by unit version 1 3 or earlier now be set automatically with no need to cycle the power to the Servo Driver and execute the device setup O Combinations supported by unit version 2 0 or later Origin search operation patterns supported by absolute encoders An error occurs if Device B is not ready Operations can be checked without affecting FROM The operation of Device A cannot be checked programming even for device design and startup when not all axes are connected Device A Device B signation Unit Version 2 0 or Later even if Device B is not ready Device B Device A Operation of Device A can be checked ections Unit version 2 0 or Later Error recovery without stopping all axes FROM improves productivity throughout the entire P EE NE C lt system mom ells m Im a i h mi ji S a a a a a a a BIB Nj Q x Connection x open NL 3 e al es Devices connection
233. face No of axes allocated 26V Control commands executed by NEW MECHA MECHATROLINK II synchronous CS1W NC271 DEW CJ1 CPU TROLINK II communications compatible 16 axes max E _ CS1W NC471 NEW UC1 CE Bus Units vn I Position Direct operation by ladder programming Control Units Control mode Position control speed control CS1W NCF71 or torque control Unit classi fication New Product Information Motion Network Lineup Controller Features Support Software Servo System Features Product name Specifications License Media Model Standards The CX One is a package that integrates the Support CX One FA Software for OMRON PLCs and components CX One runs cD CXONE ALO1C V3 Integrated Tool Package the following OS 1 license Vor g Windows 2000 Service Pack 3a or higher XP or Vista See note 1 an CX One Ver includes CX Motion NCF Ver 1 0 DVD CXONE ALO1D V3 For details refer to the CX One catalog Cat No R134 See note 2 Note 1 Site licenses are available for the CX One 3 10 30 or 50 licenses 2 When purchasing the DVD format verify the computer model and DVD drive specifications before purchasing CX Drive Motor Selection Program International Standards The standards indicated in the Standards column are those current for UL CSA cULus NK and Lloyd standards and EC Directives as of the end
234. g flash memory check memory corruption check Error detection functions Overtravel Servo Drive alarm detection CPU error MECHATROLINK communications error Unit setting error Internal current consumption 360 mA max at 5 V DC 360 mA max at 5 V DC Dimensions 90 x 31 x 65 mm H x W x D 130 x 35 x 101 mm Hx W x D Weight 95 g max 188 g max Ambient operating temperature 0 to 55 0 to 55 C A 3 SYSMAC CJ CS series MECHATROLINK II compatible Position Control Unit CJ1W NC 1 CS1W NCI 171 omnon Dimensions Unit mm CJ1W NCF71 65 31 4 27 D i INCF71 ly Y MLK BRUN BER C SERH omnon e Concepts E New Product Information Motion Network Lineup 2 74 CS1W NCF71 Controller Features o F 345 100 5 gt 21 as 9g Servo System Features CX Drive Motor Selection Program E Servomotors and Servo Drives Selection Guide es 2s 26 OF a Controllers Motion Control Units o 5 Related Manual English Cat No Japanese Cat No Type Name me m
235. gle phase 200 to 230 VAC or Single phase 100 to 115 VAC Set by user parameter Pn50F Connect pin Nos 14 and 15 when providing an external backup power supply for the absolute encoder The inputs at pins 7 to 12 and the outputs at pins 23 to 26 can be changed by parameter settings The general purpose input at pin No 13 can be monitored through MECHATROLINK II An automatic reset fuse is provided to protect output If the fuse is activated for overcurrent it will automatically reset after a fixed period of time has lapsed without current flowing Note 1 2 2 3NFB A 5 Noise filter power supply Main circuit contactor eje eo o o 5 o LI AC 1MC FO OMNUC W series AC Servomotor e o L2 U LIC Lec OMNUC W series w AC Servo Driver CN2 See note 3 E 24VINI6 3 1 e rs Forward rotation 1 i T I 24306 ku drive prohibit xli 3 3 ko un s 33kO T a m Reverse rotation i drive prohibit 99 mL 3 3kO Origin return en deceleration switch 33 Na ss 9 DERI 3 3 3 3 kQ 3 External latch signal 1 3 3 kl ss EXT1 110 DERI 3 3 3 3 kQ External latch signal 2 IHA 1 ss 2 11 DERI 3 3 kQ External latch signal 3 LET m 33ko 12 DIM 3 3 kQ External latch signal
236. h absolute encoder T 200 VAC with absolute encoder Blank Without a brake Blank Without a brake 7 Brake 7 Brake B With 24 VDC brake B With 24 VDC brake Blank Neither GO5 1 5 G09 1 9 G11 1 11 7 eee and or rnm Gear ratio G05 G15 1 15 G20 1 20 G21 1 21 See note See note 10 G25 1 25 G29 1 29 G33 1 33 w With waterproofing G45 45 1 45 Blank Straight shaft B 3 arcminutes max E Wine 9 Backlash 1 ith ke rox 45 min 9 Shaft form d S2 With key and with tab Blank Straight shaft 10 Decelerator shaft S3 Straight shaft with tab J With key Note Waterproofing is available for Flat type Servomotors only AC Servo Drives ML2 1 2345 6 Note Not all Servomotors and Decelerators can be used in combination Refer to Combining Servomotors and Decelerators on page 60 No Item Symbol Specifications 1 Indicates a Servomotor 3 Series w W Series 3 Input signal N With built in communications specification A5 50W 4 Maximum output capacity 01 100W 10 1kW H 200 VAC 5 Power supply voltage L 100 VAC 6 Other TE Built in MECHATROLINK II communications D 3 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WNL ML2 omnon Servo Drive and Servomotor Combinations without Decelerator
237. h of notch filter 2 for resonance suppression Vibration Frequency 1 Sets the vibration frequency 1 for damping control to suppress vibration at the end of the load Vibration Filter 1 Setting When setting Vibration Frequency 1 Pn02B reduce this setting if torque saturation occurs or increase it to make the movement faster Vibration Frequency 2 Sets the vibration frequency 2 for damping control to suppress vibration at the end of the load Vibration Filter 2 Setting Sets vibration filter 2 for damping control to suppress vibration at the end of the load Operation Switch When Using Absolute Encoder Selects how the absolute encoder is used Adaptive Filter Table Number Display Displays the table entry number corresponding to the frequency of the adaptive filter RS 232 Baud Rate Setting Sets the baud rate for RS 232 communications Gain Switching Operating Mode Selection RT Enables or disables gain switching Position Loop Gain RT Sets the position loop responsiveness Speed Loop Gain RT Sets the speed loop responsiveness Speed Loop Integration Time Constant RT Adjusts the speed loop integration time constant Speed Feedback Filter Time Constant RT Sets the type of speed detection filter time constant Normally use a setting of 0 Torque Command Filter Time Constant RT Adjusts the first order lag filter time constant for the torque
238. he control power supply for Servomotor power line Ground Terminals These are ground terminals for preventing electrical shock Connect to 100 Q or less With Top Cover Open DIP Switch Used for setting Mechatrolink II communications Analog Monitor Connector CN5 Motor rotation speeds torque command values etc can be monitored using a special cable Panel Display Displays Servomotor status with a 7 segment LED display MECHATROLINK II Communications Connectors CN6A CN6B Connect either a special cable for MECHATROLINK II system or a Terminating Resister Personal Computer Connector CN3 This is the connector for communications with a personal computer I O Signal Connector CN1 This is the connector for command input signals and sequence 1 0 signals Nameplate Side Panel The nameplate shows the Servo Driver model number and ratings Encoder Connector CN2 This is the connector for the encoder provided for the Servomotor Terminal Block Specifications Functions Expansion Connector CN4 This is a supplementary connector for future expansion It cannot presently be used so do not connect anything to it Power Indicato
239. he Decelerator inertia is the Servomotor shaft conversion value 2 The degree of protection for Servomotors with Decelerators is IP55 3 The maximum momentary rotation speed for the motor shaft of Servomotors with Decelerators is 4 000 r min 4 The maximum momentary torque values marked by asterisks are the maximum allowable torque for the Decelerators Use torque limits so that these values are not exceeded 5 The allowable radial loads are measured at a point 5 mm from the end of the shaft 1 000 r min Servomotors with Standard Decelerators 300 W to 2 kW Rated Rated Ratio Decelera Allowable Allowable Xm n Model speed torque URSUS tor inertia radial load thrust load H rake rake r min N m r min N m kg m N N kg kg W 1 5 R88M W3001001 LIGO5BJ 200 11 4 80 400 28 7 1 26 x 10 883 1280 14 16 1 9 R88M W30010L L G09BJ 111 20 4 80 222 51 6 9 40 x 10 5 980 1570 14 16 1 20 R88M W30010L L1G20BJ 50 45 4 80 100 115 140 x 10 4 1270 2260 16 18 1 29 R88M W30010L LG29BJ 34 65 9 80 69 166 2 76 x 10 4 2940 4900 81 33 1 45 R88M W30010L L G45BJ 22 102 80 44 258 1 81 x 104 3430 5690 31 33 600 W 1 5 R88M W60010 1 L1G05BJ 200 22 7 80 400 56 4
240. he maximum momentary torque shown above indicates the standard value Applicable Load Inertia e The operable load inertia ratio load inertia rotor inertia depends on the mechanical configuration and its rigidity For a machine with high rigidity operation is possible even with high load inertia Select an appropriate motor and confirm that operation is possible If the dynamic brake is activated frequently with high load inertia the dynamic brake resistor may burn Do not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled The allowable radial and thrust loads are the values determined for a service life of 20 000 hours at normal operating temperatures The allowable radial loads are applied as shown in the following diagram rada load Thrust load NE Center of shaft LR 2 This is an OFF brake It is reset when excitation voltage is applied The operation time is the value reference value measured with a surge suppressor CR50500 manufactured by Okaya Electric Industries Co Ltd C 25 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GN ML2 omnon Torque and Rotation Speed Characteristics 3 000 r min Cylindrical Servomotors e 3 000 r min Servomotors with 100 VAC Power Input The following graphs show the characteristics with a 3 m standard cable and a 100 VAC input R88M G05030H T 50 W R88M G10030L S 100 W R
241. he mechanical coordinate system position when using an absolute encoder Forward Software Limit Sets the soft limit in the forward direction Reverse Software Limit Sets the soft limit for the reverse direction Final Distance for External Input Positioning Sets the distance to travel after detecting the latch signal input position when performing external input positioning Origin Return Final Distance Sets the distance from the latch signal input position to the origin when performing origin return Electronic Gear Ratio 1 Numerator Sets the numerator for the electronic gear ratio Electronic Gear Ratio 2 Denominator Sets the denominator for the electronic gear ratio Deviation Counter Momentary Hold Time Sets the amount of time required to detect shutoff when the main power supply continues to shut off The main power OFF detection will be disabled if this parameter is set to 1000 Emergency Stop Torque Sets the torque limit during deceleration because of the Drive Prohibition Input when the Stop Selection for Drive Prohibition Input Pn066 is set to 2 Overload Detection Level Setting Sets the overload detection level Overspeed Detection Level Setting Sets the overspeed detection level OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GN Overflow Level Sets the deviation coun
242. hon a I 4 makata purs rho m de Rer m si i i i i i t t i t i i SEN ee S Moa MN LM a w i i t Prisa Sbi k Z w a IECIT a CE E i i i r r o cc 1 a t on i t i POSES wiae Sab aaa Pee EE Sousa ee fs k i i i i i 0 I po Sr s nuq gh ly NI ee I ee ee he eas voe ydo VIN vites c Heuer ee ea i i i i i t i re MDC ELICIT MEM MM E
243. i A Connection Diagram gpa Four 6 dia Yat 3 1 EE Vd Notch 9 5 3G3AX DL2007 3G3AX AL2110 3G3AX DL2015 Model L 3G3AX AL2220 Terminal holes 5 8 3G3AX DL2007 105 du A 55 IN 3G3AX DL2015 115 ale Ro R So S To T Pol P 6 m O O o 9 UH a PIS i p Two M4 i Tor Ground terminal A err d I 4 9 Q al 56 i 1 00 00 5 d Four 5 2 x 8 i i Ro RSo STo T L i Connection Diagram EE J iL It l Yet i Four 6 dia I I T T Notch 9 W Terminal width s Ground terminal M6 3G3AX DL2022 A bak E ol PD P o v Pees SL Two M4 Ground terminal M4 y u 3 4 71 86 Four 6 x 9 105 Related Manuals English Cat No Japanese Cat No Type Name OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II 1566 SBCE 353 R88M G R88D GNLI ML2 Communications User s Manual SBCE 053 R7D BP R88M GT R7D Z Moter Selection Program OMNUC G W series R7D A R88D W SMARTSTEP2 Junior A series CD ROM W453 SBCE 337 CXONE ALLILIC D V3 CX Drive Operation Manual OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GN ML2 C 74 New Product Information Concepts Motion Network Lineup Controller Features Servomotors and CX Drive Servo System Motor Selection Program Features
244. ia 190 100 165 163 122 103 12 0 53 1 5 R88G HPG32A052K0B 110 133 120 135 dia 135 115 115 114 84 98 12 5 35 1 11 R88G HPG32A112K0B 110 133 120 135 dia 135 115 115 114 84 98 12 5 35 1 5 kW 1 21 R88G HPG32A211K5B 110 133 120 135 dia 135 115 115 114 84 98 12 5 35 1 33 R88G HPG50A332K0B 123 156 170 170 dia 190 115 165 163 122 103 12 0 53 1 45 R88G HPG50A451K5B 123 156 170 170 dia 190 115 165 163 122 103 12 0 53 1 5 R88G HPG32A052K0B 110 133 120 135 dia 135 115 115 114 84 98 12 5 35 1 11 R88G HPG32A112K0B 110 133 120 135 dia 135 115 115 114 84 98 12 5 35 d 1 21 R88G HPG50A212K0B 123 156 170 170 dia 190 115 165 163 122 103 12 0 53 1 33 R88G HPG50A332K0B 123 156 170 170 dia 190 115 165 163 122 103 12 0 53 1 5 R88G HPG32A053K0B 107 133 120 130 130 135 145 115 114 84 98 12 5 35 3 kW 1 11 R88G HPG50A113K0B 123 156 170 170 dia 190 145 165 163 122 103 12 0 53 1 21 R88G HPG50A213K0B 123 156 170 170 dia 190 145 165 163 122 103 12 0 53 1 5 R88G HPG32A054K0B 129 133 120 130 130 135 145 115 114 84 98 12 5 35 1 11 R88G HPG50A115K0B 149 156 170 130 130 190 145 165 163 122 103 12 0 53 1 5 R88G HPG50A055K0B 149 156 170 130X130 190 145 165 163 122 103 12 0 53 pM 1 11 R88G HPG50A115K0B 149 156 170 130 130 190 145 165 163 122 103 12 0 53 Note 1 The standard models have a straight shaft A model with a key and tap is indicated by adding J to the end of the model number 50 to 750 W C1 C1 Set bolt AT Four Z2 dia Four Z1 dia
245. in T T T T 1000 2000 3000 4000 5000 R88M W1K030H T 1 kW Nm 9 54 104 Continuous usage 4 53 17 T T T T 1 r min 1000 2000 3000 4000 5000 R88M W3K030H T 3 kW N m 429 4 27 6 204 Repeated usage 13 5 19 12 9 8 5 2 Continuous usage T T T T r min 1000 2000 3000 4000 5000 T T T T 1 r min 1000 2000 3000 4000 5000 204 1 54 1 04 0 54 1 91 Repeated usage 0 637 0 637 Continuous usage 0 39 T T T T 1000 2000 3000 4000 5000 r min R88M W1K530H T 1 5 kW N m 154 104 14 7 13 9 3000 Repeated usage Continuous usage T T T T 1000 2000 3000 4000 5000 3 000 r min Cylinder type Servomotors with a 100 VAC Servo Drive The following graphs show the characteristics with a 3 m standard cable and 100 V AC input R88M W20030H T 200 W N m R88M W05030H T 50 W N m 0 5 40 477 0 477 0 44 937 Repeated usage R88M W10030H T 100 W N m 1 0 10955 0 955 0 84 0 6 Repeated usage 2 04 1 91 1 r min 1 54 Repeated usage R88M W40030H T 400 W 4 04 3 04 2 04 1 0 N m 3 82 3 82 Repeated usage Continuous usage T T T T 1 r min 1000 2000 3000 4000 5000 R88M W2K030H T 2 kW N m 20 15 10 0 719 1 183 Repeated usage Continuous usage 3 25
246. ing S2 to the end of the model number 110 dia height 7 lt 5 depth 12 e 200 VAC 2 kW 3 kW R88M G2K020T S2 R88M G3K020T S2 R88M G2K020T B S2 R88M G3K020T B S2 R88M G2K020T Four 9 dia Dimensions of shaft end with key and tap Servomotor brake connector LL IR __130 130 Encoder SS connector gt 12 6 o Lid re x 1 Fi R88M G3K020T 250 65 24 55 51 M8 20 R88M G2K020T B 225 55 22 45 41 5 12 R88M G3K020T B 275 65 24 55 51 M8 20 Note The standard models have a straight shaft A model with a key and tap is indicated by adding S2 to the end of the model number 110 dia height 7 LW LW 8h9 a N T n M depth L 200 VAC 4 kW 5 kW ABS R88M G4K020T S2 R88M G5KO020T S2 R88M G4K020T B S2 R88M G5K020T B S2 Four Z dia Servomotor brake connector LL LR Encoder q T 7 connector SER 18 a2 T eee 3 aS ts a Dimensions of shaft end with key and tap b 3 u 4 lt T
247. ions have been added CJ2 PLCs are supported Ver 2 2 Functions added for Version 2 1 of the CX Motion MCH Note These functions can be used with Motion Control Units with unit version 3 1 or later E Connecting SMARTSTEP Junior Servo Drives SMARTSTEP Junior Servo Drivers can now be connected E Backing Up and Restoring All Data All data can now be backed up and restored including origin offsets for absolute encoders E Read Protection for Programs and Cam Data can use read protection to restrict access to program and cam data Functions Motion Setting and Releasing Protection Select Set Protection or Release Protection and the data items that can be read through the secondary password and then click the Transfer PC to MC Button 27 77 cmm O Parameter Editing Tasks and axes can be added to projects and the parameters can be easily edited O Program Editing and Syntax Checking Motion programs can be created and edited Instructions and comments are color coded for easy understanding Program syntax is checked offline when compiling and lines requiring corrections are displayed along with the corrections O Transferring and Verifying Parameters and Programs MC Unit parameters and programs and parameters for Servo Drivers connected to MC Units can be transferred Parameters and programs are compared between the Unit and Support Software and any differences are displayed
248. ir system and use without modification PE The OMRON FB Library and Smart Active Parts SAPs Library are available now These libraries simplify the software developed for interface components between Programmable Controllers PLCs or 555 Programmable Terminals various other control devices They also improve the quality of the software by using standardized software components ccc Re ps i T 3g 1 1 o OMRON FB Library Smart Active Parts SAPs Library ES s os The OMRON FB Library contains functional components The Smart Active Parts SAPs Library formerly known as the o i for Programmable Controllers PLCs These components Device Library consists of screens with functions for i can be used by customers to produce finished programs t3 Programmable Terminals SAPs can be used on screens E that interface with various control devices in much less developed by customers to produce finished screens that time Since the components are standardized they also interface with various control devices in much less time Since the E 8 improve the quality of the finished programs i 3 components are standardized they also improve screen quality 55 bod E 1 1 Mon 1 Pre pos F8 Pre pos v o is 2 Mon 2 00 Pre pos E 2 1 E Partm No Setting val Peramsize 1 0 Stats ae E f gt fic 2 e x
249. k position of up to two selected axes and to decelerate the axes to a stop if the deviation between the axes exceeds the setting Bi Interaxial Stop Mode Setting for Linear Interpolation Previously if a Servo error occurred on one axis the other axis would decelerate to a stop but now it is possible for the other axis to use the same stopping mode as the axis with the error by selecting emergency stop or Servo unlock Note The functionality described above is only for the CJ1 Series CJ1W NCF71 MA New Product Information Motion Network Lineup Motion Network Lineup Controller Lineup The product lineup offers a wide selection of Controllers to match applications ranging from position control to synchronization control Concepts Motion Network For MECHATROLINK II LINK II sition Control Units z T ss 2 Es 2x t5 2 a CJTW NC271 471 g 2 j 7 EY CS1W NC271 471 4 am 23 Position Control Units o5 CJ1W NCF71 Position Control Units CJ1W NCF71 MA ou CS1W NCF71 1 Number of axes 1 Axes 2 Axes 4 Axes 8 Axes 16 Axes 30 Axes 2 a x lt o Motion Network Connecting the Controller and Servos HER You can connect to the Servomotor using just one cable whether the Servomotor is in the advanced HE high performance OMNUC G Series or in the economical SMARTSTEP Series 08 Position Contr
250. l Servomotors and Servo Drives Voltage Single phase Servo Drive Servomotor Rated output With absolute encoder three phase 200 V R88D GN15H ML2 900W R88M G90010T L R88D GN30H ML2 2 kW R88M G2K010T L R88D GN50H ML2 3 kW R88M G3K010T L Three phase 200 V R88D GN50H ML2 4 5 kW R88M G4K510T L R88D GN75H ML2 6 kW R88M G6K010T L C 15 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GN Voltage Servo Drive salle Rated output With incremental encoder With absolute encoder R88D GNO1L ML2 100 W R88M GP10030L L1 R88M GP10030S 100 V R88D GNO2L ML2 200W R88M GP20030L L1 R88M GP20030S R88D GNO4L ML2 400 W R88M GP40030L 1 R88M GP40030S R88D GNO1H ML2 100 W R88M GP10030H R88M GP10030T L Single phase 200 V R88D GNO2H ML2 200W R88M GP20030H R88M GP20030T L R88D GNO4H ML2 400W R88M GP40030H R88M GP40030T L1 2 000 r min Sylindrical Servomotors and Servo Drives ML2 Servomotor Decelerator Combinations 3 000 r min Cylindrical Servomotors omnon Motor model 1 5 1 11 1 9 for flange size No 11 1 21 1 33 1 45 R88M G05030 R88G HPG11A05100BL Also used with R88M G10030L R88G HPG11A09050B Gear ratio 1 9 R88G HPG14A21100B Also used with R88M G10030L R88G HPG14A33050B R88G HPG14A45050B R88M G1003
251. l servo Inverter method IGBT driven PWM method PWM frequency 12 0 kHz 6 0 kHz Weight Approx 0 8 kg Approx 0 8 kg Approx 1 1 kg Approx 1 5 kg Maximum applicable motor capacity 50 W 100 W 200 W 400 W INC G05030H G10030L G20030L G40030L 3 000 r min Servomotors G05030T G10030S G20030S G40030S Applicabl IN GP10030L GP20030L GP40030L tinea 3 000 r min Flat Servomotors GP10030S GP20030S GP40030S 2 000 r min Servomotors 1 000 r min Servomotors Speed control range 1 5000 Speed variability Load characteristic 0 01 or less at 0 to 100 at rated speed E Speed variability Voltage characteristic 0 at 10 of rated voltage at rated speed Speed variability Temperature characteristic 0 1 or less at 0 to 50 C at rated speed z Torque control reproducibility 3 at 20 to 100 of rated torque C 21 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNL ML2 Servo Drives with Single phase 200 VAC Input Power omnon Item R88D GNO1H R88D GN02H R88D GNO4H R88D GNO8H R88D GN10H R88D GN15H ML2 ML2 ML2 ML2 ML2 ML2 Continuous output current rms 1 16 A 1 6A 27 40 5 9 9 8 A Momentary maximum output current rms 35 A 5 3A 14 1
252. le block Executes the motion program one block at a time Positioning PTP Executes positioning independently for each axis at the speed set in the system parameters Simultaneous specification 8 axes max block Simultaneous execution 32 blocks max unit Linear interpolation Control Operations Executes linear interpolation for up to 8 axes simultaneously at the specified interpolation speed Simultaneous specification 8 axes max block Simultaneous execution 32 blocks max system according to mo tion program 4 Circular interpolation Executes clockwise or counterclockwise circular interpolation for two axes at their specified interpolation speed Simultaneous specification 2 or 3 axes block Simultaneous execution 16 blocks max system Other functions Origin search Interrupt feeding Time specified Positioning Traverse function Independent Electronic Cam Synchronous Electronic cam Link operation Electronic Shaft Trailing synchronous operation Speed command Torque command Acceleration deceleration curve Acceleration deceleration time Trapezoidal or S shape 60000 ms max S shape time constant 30000 ms max One port for MECHATROLINK II Deceleration stop input or servo OFF stop 1 pt EX General input 2 pts General output 2 pts Food rate Rapid feed rate 1 to 2147483647 Command unit min Interpolation feed rate 1 to 2147483647 Command unit min Override 0 00
253. lectric strength Allowable thrust load N 98 98 343 490 1 500 V AC for 1 min at Without 50 60 Hz 8 av 9 14 Weight brake kg ppro 9 9 PEO LS pproxis e pprox Run position All directions With brake kg Approx 7 5 Approx 9 6 Approx 12 Approx 19 Insulation grade Type F Radiation shield dimensions 120 x 7400 Fe 130 1550 Fe Totally enclosed self material cooling Applicable load inerti i pplicable load inertia 5x Degree of protection IP 67 Excluding through Brake inertia 24 x104 24 x 104 24x 10 4 8 5 x 10 4 shaft portion GD2 4 j Vibration grade V 15 preron 24 10 Mounting method Flange mounting 9 EMC EN55011 class A group 1 Power con Direc sumption w 9 85 9 85 9 85 18 5 Inter EC tive EN61000 6 2 at 20 na Direc Low C 1 IEC60034 8 tional tives voltage i coo amp EN60034 1 Brake sumption A 0 41 0 41 0 41 0 77 stan Direc g specifi at 20 C dards tive 4 41 min 12 7 min 12 7 min 43 1 min UL standards UL 1004 Ion toraue cUL standards cUL C22 2 No 100 Attraction ms 180 max time Release time ms 100 max Backlash 1 reference value Rating Continuous Insulation grade E F R88M W1K815T 1 8 kW 22 3 R88M W85015T 850 W N m N m 204 304 151158 127 2870 204 104 Repeated usage 5 39 Continuous usage 11 5 2 70 Repeat
254. length of 50 m or 30 m for 16 axes allows more freedom in constructing systems e Less Time Spent on Startup and Maintenance a NE Servo parameters can be set from the PLC CJ1W NC271 CS1W NC271 This means that settings and adjustments can be performed from one location CJ1W NC471 CS1W NC471 rather than having to connect to each Servo Drive separately CJ1W NCF71 CS1W NCF71 e Simple Expansion CJ1W NCF71 MA An easily expandable system can be constructed that is just as efficient now with a few axes or later with up to 16 axes e Linked Operation of Multiple Axes with MA Functionality The addition of an Interpolation Compensation Axis Stop Mode Setting and Interaxial Allowance Deviation Setting to linear interpolation compensation enables easier setting of linked operation between axes System Confi gu ration MECHATROLINK II is a registered trademark of the MECHATROLINK Members Association Programmable Terminals NS series oa RS 232C Communications NT Link CEHS 73 Programmable Controller SYSMAC CS CJ series J Using the CX Motion NCF allows all parameters including Servo Drive parameters to be transferred at one time emm Position Control Unit CS1W NCLI71 u Position Control Unit Lj CJ1W NCL 171 16 axes max 16 axes max overall cable length 100 m When repeater is used mmnm OMNUC W series a f AC Servo Drive with General purpose Pulse or Analog
255. lex Japan Co Ltd 30 to 50 m 55100 0670 Servomotor Connector Straight plug N MS3106B20 29S Japan Aviation Electronics Industry Ltd Cable clamp N MS3057 12A L 6 5 da 6 8 dia Molex Japan Co Ltd Connector pins 50639 8028 Molex Japan Co Ltd hr I acl Japan Aviation Electronics Industry Ltd Cylindrical Servomotors 3 000 r min 50 to 750 W absolute encoder Flat Servomotors 3 000 r min 100 to 400 W absolute encoder R88A CRG CR The empty boxes in the model number are for the cable length The cable can be 3 5 10 15 20 30 40 or 50 m long Servo Drive Connector Connector Crimped I O connector Molex Japan Co Ltd Connector pins 50639 8028 Molex Japan Co Ltd Servomotor Connector Connector 172161 1 Tyco Electronics AMP KK Connector pins 170365 1 Tyco Electronics AMP KK Cylindrical Servomotors 3 000 r min 50 to 750 W incremental encoder Robot Encoder Flat Servomotors 3 000 r Cables with F Connectors moni 100 to 400 W incremental encoder R88A CRGB CR The empty boxes in the model number are for the cable length The cable can be 3 5 10 15 20 30 40 or 50 m long Servo Drive Connector Connector Crimped VO connector Molex Japan Co Ltd Connector pins 50639 8028 Molex Japan Co Ltd 1 Servomotor Connector Connector
256. lock Conversion Unit Description Model 04JFAT SBXGF N JST Mfg Co Ltd Servomotor Power Cables CNB Encoder Cables CN2 Name Connected to Model number Description R7A CAZ S The digits in the Servomotor Connector Servo Driver Connector For a Servomotor without Servomotor without brake model number indicate Connector plug 5557 06R 210 Molex Japan Connector plug 04JFAT SAYGF N brake R7M Zz00030 S1 the cable length Connector case 5556TL Molex Japan JST Mfg Co Ltd 3m 5m 10 m 15 m or a 20 m R7A CAZ B Servomotor Connector Servo Driver Connector The digits in the Connector plug 5557 06R 210 Molex Japan Connector plug 04JFAT SAYGF N For a Servomotor with Servomotor with brake model number indicate Connector case 5556TL Molex Japan JST Mfg Co Ltd brake 7 2 30 51 the cable length 3m 5 10 15m or 20 m jt No Name Connected to Model number Description R7A CRZ ae C Servomotor Connector Servo Driver Connector The digits in the Connector plug 5557 12R 210 Molex Japan Connector plug 36210 0100FD 3 Encoder Cable R7M ZI 30 0191 model number indicate Connector case 5556T Molex Japan Sumitomo 3M the cable length Connector case
257. lute value encoder of the servo driver connected with the positional control unit can be initialized thout Changing the Connection O Monitoring The present status of Position Control Units and connected Servo Drives can be monitored Up to four T p pastors Servo Driver axes can be monitored at one time cx a EBE Eaeaea ene pe mE ae ee a iriri m Comision Teal Comet mamm 1 Puas tt tee Poston S Comment without Changing the Connection Trial operation Test Run Servo locks jogging and error resetting can be executed pay from the Support Software Error codes the ON OFF exer corn my al oe val TTF conc status of I O for each axis are displayed and present Meer NE values and busy status can be monitored 5 Command a Ovende Established m az Servo Lock Unlock owes JOG Button Servo Unlock x ruwas s Asis enor Enorcode ee 890 ows Front 7 CX Motion NCF CX Programmer The programming with efficiently high possibility to be able to design and to describe is achieved CX Programmer Programming Software Ver 8 0 Simple programming with ladder diagrams just as Time Require for Debugging and Maintenance Has Been with previous Pulse type Position Control Units Reduce
258. me constant for the torque command Utility control switches Integral compensation processing Utility integral gain Adjusts the auxiliary integral responsive Position proportional gain Adjusts the position proportional responsive Speed integral gain Adjusts the speed integral responsive Speed proportional gain Adjusts the speed proportional responsive Note 1 Explanation for parameters set using 5 digits 2 Explanation for parameters requiring each digit No to be set separately ML2 D 34 Concepts New Product Information Motion Network Lineup Controller Servomotors and OMNUC G SMARTSTEP Controllers CX Drive Servo System Motor Selection Program Features Features Position Control Units Controllers Motion Control Units Junior omnon Position Control Parameters from Pn200 Torque Control Parameters from Pn400 Parameter name Explanation Parameter name Explanation Absolute encoder multi turn limit setting Sets the multi turn limit for when a Servomotor with an absolute encoder is used Position control settings 2 Backlash compensation selection Electronic gear ratio G1 numerator Sets the pulse rate for the command pulses and Servomotor movement distance Electronic gear ratio G2 denominator 0 001 x Pn20E Pn210 x 1000 Encoder divider rate Sets the number of output pulses
259. mentary maximum rotation speed r min Momentary maximum N m ae 7 16 Rated current A irms o 1 2 1 2 8 44 5 7 9 7 Momentary maximum A irms current 2 0 2 8 6 5 8 5 13 4 17 28 42 56 m Rotor inertia 2 20x109 3 64x109 1 06x105 1 73x105 6 72x105 1 74x104 2 47x104 3 19104 7 00 x 10 Torque constant N m A 0 268 0 378 0 327 0 498 0 590 0 64 0 56 0 54 0 57 Power rate kW s 11 5 27 8 38 2 93 7 84 8 57 9 97 2 127 137 Mechanical time con stant ms 0 88 0 53 0 39 0 25 0 26 0 87 0 74 0 62 0 74 Electrical time constant ms 1 1 1 2 4 6 5 4 8 7 451 Tit 8 3 13 0 Allowable radial load N 68 78 392 686 686 686 980 Allowable thrust load N 54 54 74 74 147 196 196 196 392 MARE kg Approx 0 4 Approx 0 5 Approx 1 1 Approx 1 7 Approx 3 4 Approx 4 6 Approx 5 8 Approx 7 0 e Weight i With brake kg Approx 0 7 Approx 0 8 Approx 1 6 Approx 2 2 Approx 4 3 Approx 6 0 Approx 7 5 Approx 8 5 AU Radiation shield dimensions 16 x 1250 A t12 x 1300 Al t20 x 1400 material Applicable load inertia 5x i kg m2 5 Brake inertia GD2 4 8 5 x10 Excitation 24 VDC 10 voltage Power con sumption w at 20 C Current con Brake Sumption A 0 25 0 25 0 27 0 27 0 5 0 5 0 5 0 41 speci at 20 C fica ic fric tions saie N m 0 2 min 0 34 min 1 5 min 1 5 min 7 8 min 7 8 min 7 8 min 20 min ion torque aractan ms 30 max 30 max 100 max 100 max 180 max 180 max 180 max 180 max Release tim
260. model with a key and tap is indicated by adding J to the end of the model number C1xC1 E Set bolt AT Four Z2 dia 2 M DI G G c lt 5 0 0 cI T o0 xS a ola s 14 o 1 fol 7 29 1 I a F1 Four Z1 dia ESTRI C2 x C2 F2 G gt t LR LM C 67 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNLT ML2 omnon Dimensions mm poe Key dimensions Tap dimensions Model b h M L 8 R88G HPG32A05900TB 1 5 8 R88G HPG32A11900TB 1 11 900 W 9 R88G HPG50A21900TB 1 21 9 R88G HPG50A33900TB 1 33 M12x25 8 R88G HPG32A052K0TB 1 5 M12x25 9 R88G HPG50A112K0TB 1 11 12 25 9 R88G HPG50A212K0TB 1 21 id M12x25 14 R88G HPG65A255K0SB 1 25 16 50 82 14 M12x25 M6 70 14 9 5 5 M10 20 R88G HPG50A055K0SB 1 5 16 50 82 14 M12x25 M6 70 14 9 5 5 M10 20 R88G HPG50A115K0SB 1 11 25 80 130 18 12 25 8 110 22 14 9 0 M16 35 R88G HPG65A205K0SB 1 20 dd 25 80 130 18 M12x25 M8 110 22 14 9 0 M16 35 R88G HPG65A255K0SB 1 25 16 50 82 14 M12x25 M6 70 14 9 5 5 M10 20 R88G HPG50A054K5TB 1 5 25 80 130 18 M12x25 M8 110 22 14 9 0 M16 35 R8
261. n Cylinder 15m 8 s Specifications Model type Motors 1 8 W 20m R88A CAWD020S Regeneration capacity 220 W 47 R88A RR22047S For 3000 r min Cylinder 30 m R88A CAWDOS30S type Motors 3 KW 40m R88A CAWDO40S AC Reactors 50m R88A CAWDO50S EN TE 3m_ R88A CAWA003B specications eee 5m R88A CAWA005B For R88D WNASL ML2 01L ML2 02H ML2 R88A PX5053 For 3000 r min Cylinder 10m R88A CAWAO10B For R88D WNO2L ML2 04H ML2 R88A PX5054 er om W 15 R88A CAWAO15B For R88D WNO4L ML2 08H ML2 R88A PX5056 to For Flat type Motors 20m R88A CAWA020B For R88D WNASH ML2 01H ML2 R88A PX5052 100 W to 750 W 30m R88A CAWA030B For R88D WNO5H ML2 10H ML2 R88A PX5061 40 m R88A CAWAO40B For R88D WN15H ML2 20H ML2 R88A PX5060 50 R88A CAWAOSOB For R88D WN30H ML2 R88A PX5059 R88A CAWB003B 5m Front panel Brackets 10m R88A CAWBO10B For Flat type Motors 15m R88A CAWBO15B Specifications For R88D WNASL ML2 to 04L ML2 1 5 kw 20m R88A CAWBO20B R88A TK05W 30m R88A CAWBO30B For R88D WNA5H ML2 to 10H ML2 Power 40 R88A CAWBO40B For R88D WN15H ML2 R88A TKO6W Cables for 50m R88A CAWB050B For R88D WN20H ML2 30H ML2 R88A TKO7W Servomotors F with Brakes For 1000 r min Cylinder 3m RBSACAWCOUSE Note Required when mounting a Servo Drive from the front panel type Motors 5m R88A CAWCO05B 300 W to 900 W 10 R88A CAWCO10B Peripheral Cables and Connectors Moe MER Cylinder 15m R88A CAWCO15B S
262. n axes 55 os o gt z gt o z o gt z MECHATROLINK II is a registered trademark of the MECHATROLINK Members Association n ul ns mo El z u yiririr SAVE TIN Front 14 High speed Response High speed Rotation and High precision Control Greatly Enhanced Machine Performance and Productivity Built in MECHATROLINK II OMNUC W Series e Reduced Positioning Stabilizing Time Oscillation control has been strengthened through expanded control algorithms enabling the positioning stabilizing time to be reduced to one third compared with the OMRON U Series even for machines with low rigidity High speed and High precision Drive A high speed rotation of 5 000 r min has been attained Positioning accuracy has also been improved by employing high resolution serial encoders 16 384 pulses revolution 32 768 pulses revolution Torque control accuracy repeatability hasbeen improved by 42 High speed and High precision Positioning BPC TS uiuit Equipment for Attaching Liquid crystal PCBs Etching Equipment SYSMAC CJ Series Vision Inspection System Camera Position Control Unit CJ1W NCF71 AC Servomotors and Servo Drivers with Built in MECHATROLINK II Communications R88M W R88D WN ML2 dvantages e Wiring and work time are reduced by using MECHATROLINK II
263. ndensation 20 to 80 C 85 max with no condensation Operating and storage atmosphere No corrosive gases Vibration resistance 1 10 to 2 500 Hz Acceleration of 49 m s max in the X Y and Z directions X Y and Z 10 to 2 500 Hz Acceleration of 24 5 m s max in the 10 to 2 500 Hz Acceleration of 49 m s max in the X directions Y and Z directions 10 to 2 500 Hz Acceleration of 24 5 m s max in the X Y and Z directions Impact resistance Acceleration of 98 m s max Y and Z directions 3 times each in the X Acceleration of 98 m s max 2 times vertically Insulation resistance 20 MQ min at 500 VDC between the power terminals and FG terminal Dielectric strength 1 500 VAC 50 or 60 Hz for 1 minute between the power terminals and FG terminal Operating position All directions Insulation grade Type B Type F Type B Type F Structure Totally enclosed self cooling Protective structure IP65 excluding the output shaft rotating section and lead wire ends Vibration grade V 15 Mounting method Flange mounting EMC EN 55011 Class A Group 1 n Directive 6 4 2 3 4 5 6 EC Directives EN 61000 6 2 IEC 61000 4 2 3 4 5 6 11 Fow voltage IEC 60034 1 5 5 Directive s UL standards UL 1004 a ding S 2 CSA standards CSA 22 2 No 100 id 1 The amplitude may b
264. ndicates models with both a key and tap For 1 000 r min Servomotors there are no S1 or S3 models AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WN Note An S2 suffix indicates models with both a key and tap For 1 000 r min Servomotors there are no S1 or S3 models ML2 D 6 S tors and Controllers SSD CX Drive Servo System Controller now Product nfomstio Concepts Motion Control Units Position Control Units Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers OMNUC G SMARTSTEP Junior omnon Flat type Servomotors with Incremental Encoder Flat type Servomotor with Absolute Encoder Specifications Model Specifications Model Specifications Waterproof Flat type Servomotors with Incremental Encoder See note 3 Model Waterproof Flat type Servomotors with Absolute Encoder Specifications 100 W R88M WP10030H R88M WP10030T 200 W R88M WP20030H R88M WP20030T Without brake 400 W R88M WP40030H Without brake R88M WP40030T 750 W R88M WP75030H R88M WP75030T Straight shaft 1 5 kW R88M WP1K530H Straight shaft R88M WP1K530T without key 100 W R88M WP10030H B without key R88M WP10030T B 200 W R88M WP20030H B R88M WP20030T B With
265. ng Japan Aviation Electronics Industry Ltd Cylindrical Servomotors 8 i i Servomotor Connector 3 000 3 t S kW 1 uu the model 70 plug Cylindrical Servomotors N MS3106B22 225 2 000 r min 3 to 5 kW number are for the cable length xd Japan Aviation Electronics Industry Ltd The cable can be 3 5 10 15 20 amp Gable camp V Cylindrical Servomotors 1 000 r min 2 to 4 5 kW Japan Aviation Electronics Industry Ltd 30 40 or 50 m long Cylindrical S t R88A CAGE S Servomotor Connector ylindrical Servomotors i 70 L Straight plug The empty boxes in the model NAM53106832 178 1 500 r min 7 5 kW Cylindrical Servomotors 1 000 r min 6 kW number are for the cable length The cable can be 3 5 10 15 20 30 40 or 50 m long Japan Aviation Electronics Industry Ltd Cable clamp N MS3057 20A Japan Aviation Electronics Industry Ltd F 28 5 dia L3 56 4 dia 8 C 17 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNLT ML2 omnon Symbol Name Connected to Model Description indri 70 Cylindrical Servomotors ona tA E Bervomotor Connector 3 000 r min 1 to 1 5 kW trahe pis Cylindri
266. nitored through MECHATROLINK II z 5 An automatic reset fuse is provided to protect output If the fuse is activated for overcurrent it will automatically reset after a fixed period of time has lapsed without current flowing A Main circuit power supply OFF ON Main circuit contactor Qu 1 21 55 1MC X o o o o OMNUC W series AC Servomotor OMNUC W series AC Servo Driver DC Reactor 1 T 1 1 1 Encoder x 1 1 1 1 See notes 3 and 5 em 24VINJ6 a 3 ALM G Alarm output a I L 1 Forward rotation ALMCOM 24 VDC J drive prohibit por 7 kal ERK M9 E i 3 3 1 sot Brake i 5 2 2 i interlock operating Reverse rotation rq I BKIR 1 tput voltage drive prohibit 3 3 o PAK 2 S501 outpu shee 8 rey Gee 90 BKIRCOM See note 1 Lt 83 ko Origin return 177A 7 502 deceleration switch clo 3 3 S k General purpose output 2 SA current a LL as Loss m j 3 3kQ ase 2597 803 External latch signal 1 3 3 koj IY General purpose output 3 1 10 pm S03 3 8 kO External latch signal 2 dd gods 11 3 3 koj r2 9 A Encoder A phase 3 3 kQ A ompi Line driver output
267. nits OMNUC W SMARTSTEP Junior omnon Three phase 200 VAC 2 kW R88D GN20H ML2 85 17 5 50 70 200 3 5 425 Mounting Hole Dimensions 52 R2 6 Four M4 7wW m e mz i EU E Z T ma H f UU gi 2 1 jl 9 L lt rl dd P fost lal tent LIBE f Lae R2 6 P 17 5 50 05 gt _ _5 2 85 Three phase 200 VAC 2 to 5 kW R88D GN30H ML2 R88D GN50H ML2 130 15 _ 100 Mounting Hole Dimensions Lites 1 52 52 50405 Six M4 R2 6 5 2 dia R2 6 B Eu 71 31 i i EE 8 5 a R2 6 gt 15 100 0 5 J 5 2 130 lt gt C 53 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M
268. ns a LN eu s QK t1 t h Related Manuals English Cat No Japanese Cat No Type Name AC Servomotors Drive 1544 SBCE 344 R7M Z R7D ZNC ML2 SMARTSTEP Junior _ SBCE 053 R7D BP R88M GT R7D Z Moter Selection Program OMNUC G W series R7D A R88D W SMARTSTEP2 Junior A series CD ROM E 21 SMARTSTEP Junior AC Servomotors and Servo Drives with Built in MECHATROLINK II Communications R7 M Z R7D ZNLT ML2 Read and Understand this Catalog Please read and understand this catalog before purchasing the product Please consult your OMRON representative if you have any questions or comments Warranty and Limitations of Liability WARRANTY OMRON s exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year or other period if specified from date of sale by OMRON OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED REGARDING NON INFRINGEMENT MERCHANTABILITY OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRA
269. ns under which the standards were met HATROLINK related Devices and Cables Manufactured by Yaskawa Corporation Name OMRON model number Yaskawa model number 0 5m FNY W6003 A5 JEPMC W6003 A5 1 0m FNY W6003 01 JEPMC W6003 01 3 0m FNY W6003 03 JEPMC W6003 03 USB on both ends som FNY W6003 05 W5003 05 10 0m FNY W6003 10 JEPMC W6003 10 20 0m FNY W6003 20 JEPMC W6003 20 30 0 m FNY W6003 30 JEPMC W6003 30 MECHATROLINK II Terminating Resistor Terminating resistance FNY W6022 JEPMC W6022 MECHATROLINK II Repeater Communications Repeater FNY REP2000 JEPMC REP2000 Note MECHATROLINK related Devices and Cables are manufactured by Yaskawa Corporation but they can be ordered directly from OMRON using the OMRON model numbers Yaskawa brand products will be delivered even when they are ordered from OMRON Accessories None SYSMAC CJ CS series MECHATROLINK II compatible Motion Control Units CJ1W MCH71 CS1W MCH71 B 2 Dri Servo System Controller i s D CX Drive New Product Information CERE EA Motor Selection Program Features Features Motion Network Lineup Concepts Servomotors and Controllers Position Control Units z P5 2 os OMNUC W OMNUC G SMARTSTEP Junior omnon Performance Specifications Item Specifications Model CJ1W MCH71 CS1W MCH71 Applicable PLCs PLCs with
270. o a cam table in synchronization with a specified main axis A total of 16 000 points for all Units com bined can be included for the cam data and 32 cam tables can be set enabling complex operations Virtual Axes Any axis can be set as an axis performing an ideal movement Set ting it as the main axis for synchronized control simplifies design and debugging of programs and adjustment of synchronized operations Also when slippage occurs in motor operation and workpiece opera tion the amount of compensation for the amount of slippage can be set as the target value for the virtual axis and the compensation operation can be easily executed by means of the add axis travel function Add Axis Travel ADDAX ADDAXR This function adds the operation of a superimposed axis to a speci fied axis making it easy to perform compensation in feeder and syn chronization operations Superimposed Vis axis Specified axis t Start ADDAX Follow up Synchronization SYNC SYNCR From standby status this function starts follow up operation when the marker sensor turns ON and executes follow up synchronization with the main axis This is ideal for applications that process work pieces without stopping the line Stop ADDAXR Follow up operation interval Follow up synchronization interval 1 Master axis Follow up operation 1 travel amount Slave axis SYNC command Marker sensor ON SYNCR
271. o monitor mode Note Only MC Units with unit version 3 0 can be used for trial operation and motion program debugging Motion Program Debugging The program to be executed is displayed with breakpoints set at lines where the program is to be paused When the program is executed it runs until the line before the breakpoint and then pauses 4 Single or multiple instructions are indicated by arrows for execution lines Present positions of axes that are used and execution line variables are displayed in the Watch Window The values of variables can be changed CX Motion MCH ng Data Tracing LT s we 8 80000 Concepts Fle Operation Wew Options Windows ASW masus QA The values of all MC Unit variables can be traced The results are displayed on a graph so they can be used for checking operation and making adjustments New Product Information Motion Network Lineup The values of MC Unit variables can be traced Note Data trace can be used since the MC unit version 3 0 Data Tracing Specifications Item Description Trigger Trigger condition 1 an AND of trigger condition 1 and trigger condition 2 or manual trigger ou 8 ol Q BOOL OFF to ON ON to OFF ON or OFF Trigger condition WORD DWORD
272. oad is the value at the LR 2 position Note 5 The standard models have a straight shaft Models with a key and tap are indicated with J at the end of the model number the suffix in the box C 35 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GN ML2 omnon Decelerators for 3 000 r min Flat Servomotors EU pales Efficiency icd P UMS Weight speed que rotation speed torque nerva load load r min N m r min N m kg m N N kg 1 5 R88G HPG11A05100PB 600 1 37 85 1000 3 67 3 59 5 00 x 107 135 538 0 34 1 11 R88G HPG14A11100PB 273 2 63 75 454 7 06 6 89 6 00 x 10 280 1119 1 04 100W 1 21 R88G HPG14A21100PB 143 5 40 80 238 14 5 14 2 5 00 x 106 340 1358 1 04 1 33 R88G HPG20A33100PB 91 6 91 65 151 18 6 18 1 4 50 x 105 916 3226 2 9 1 45 R88G HPG20A45100PB 67 9 42 65 111 25 3 24 7 4 50 x 105 1006 3541 2 9 1 5 R88G HPG14A05200PB 600 2 49 78 1000 7 01 2 07 x 105 221 883 0 99 1 11 R88G HPG20A11200PB 273 4 75 68 454 13 4 5 80 x 105 659 2320 3 1 200W 1 21 R88G HPG20A21200PB 143 10 2 76 238 28 8 4 90 x 105 800 2817 3 1 1 33 R88G HPG20A33200PB 91 17 0 81 151 47 9 4 50 x 105 916 3226 3 1 1 45 R88G HPG20A45200PB 67 23 2 81 111 65 4 4 50 x 105 1006 3541 3 1 1 5 R88G HPG20A05400PB 600 4 67 72 1000 900 13 1 12 9 7 10 x 105 520 1832 3 1 1 11 R88G HPG20A11400PB 273 11 7 82 454 409 32 9 32 4 5 80 x 105 659
273. ol I O Connector CN1 Driver side R7A CNAO1R 1m R7A CPZ001S 7 General purpose Control Cable 2m R7A CPZ002S 1m XW2Z 100J B19 Connector Terminal Block Cable 2m XW2Z 200J B19 8 M3 screw Terminal Block XW2B 20G4 rond Terminal Block Conversion M3 5 screw Terminal Block XW2B 20G5 M3 screw Terminal Block XW2D 20G6 E 7 SMARTSTEP Junior AC Servomotors and Servo Drives with Built in MECHATROLINK II Communications RZM Z R7D ZNL I ML2 omnon AC Servo Drive Specifications R7D ZNL ML2 General Specifications Item Specifications Ambient operating temperature 0 to 55 C Ambient operating humidity 90 max with no condensation Ambient storage temperature 20 to 70 C Ambient storage humidity 90 max with no condensation Storage and operating atmosphere No corrosive gasses no dust no iron dust no exposure to moisture or cutting oil Vibration resistance 10 to 55 Hz in X Y and Z directions with 0 1 mm double amplitude acceleration 4 9 m s max 5 Shock resistance Acceleration 19 6 m s max in X Y and Z directions three times 9 Insulation resistance Between power supply power line terminals and frame ground 0 5 min at 500 V DC Between power supply power line terminals and frame ground 1 500 V AC for 1 min at 50 60 Hz Dielectric ciui Between each control signal and frame ground 500 V AC for 1 min New Product Information Motion Network Lineup
274. ol Units Servo Drivers CJ1W NC 171 OMNUC G Series SMARTSTEP Junior OMNUC W Series OMNUC W Series CS1W NC 71 R88M G R7M Z R88M W R88M W CJ1W NCF71 MA R88D GN ML2 98 R7D ZN ML2 R88D WNL_ R88D WT NEW FNY NS115 Controllers Position Control Units Motion Control Units CJ1W MCH71 OMNUC W Series OMNUC W Series SMARTSTEP Junior MECHATROLINK II Controllers Motion Control Units Motion Network CS1W MCH71 R88M W R88M W R7M Z R88D WN ML2 _ R88D WT R7D ZN FNY NS115 o 2 z Description Controller functions Support Software i z of Fu ncti ons No of Interfaces Absolute External Position Linear Arc Speed Torque Synchronous Positioning Programming Configuration encoder control interpolation interpolation control control control programs software software z ER VICH External Linear Arc Speed Torque fim Synchronous fal Motion X X p q y 8 gt 2 C 1 30 ML2 ABS pulse control interpolation control control im language Motion Motion 2 Wey L J MCH MCH 2 L3 w m S J1W 7 i Ladder BE ccu MLZ ABS Conta md red Bes D As CS1W NC 71 p direct togrammer MCH 5 lt MECHATROLINK II Motion
275. on of the Motor Phase Current Detector CT for Servo ON command inputs The readjustment is made when control power is turned ON Undervoltage Alarm Selection Selects whether to activate the main power supply undervoltage function alarm code 13 when the main power supply is interrupted for the duration of the Momentary Hold Time PnO6D during Servo ON Stop Selection for Drive Prohibition Input Sets the operation used to decelerate to a stop when the Forward Drive Prohibit Input POT or Reverse Drive Prohibit Input NOT is enabled Stop Selection with Main Power OFF Sets the operation to be performed during deceleration and after stopping after the main power supply is turned OFF with the Undervoltage Alarm Selection Pn065 set to 0 The deviation counter will be reset when the power OFF is detected Stop Selection for Alarm Generation Sets the deceleration process and stop status after an alarm is issued by the protective function The deviation counter will be reset when an alarm is issued Stop Selection with Servo OFF Sets the operation after a Servo OFF The relationship between set values operation and deviation counter processing for this parameter is the same as for the Stop Selection with Main Power OFF Pn067 Brake Timing when Stopped Sets the duration from Brake Interlock BKIR signal detection to Servo OFF Brake Timing during Operation Sets the duration from S
276. on resistor capacity See note 1 Setting for regeneration resistance load ratio monitoring calculations Communications control MECHATROLINK II communications check mask Warning check mask Communications error count at single transmission Function selection application 6 software LS Software limit function Software limit check using reference Zero point width Sets the origin position detection range Forward software limit Sets the software limit for the positive direction Note Pn806 must be set lower than Pn804 Reverse software limit Sets the software limit for the negative direction Note Pn806 must be set lower than Pn804 Absolute encoder zero point position offset Sets the encoder position and machine coordi nate system offsets for when an absolute encoder is used First step linear acceleration parameter Sets the step 1 acceleration for when two step acceleration is used Second step linear acceleration parameter Sets the step 2 acceleration for when two step acceleration is executed or the one step acceleration parameter for when one step acceleration is executed Acceleration parameter Switching speed Sets the switching speed for the step 1 and step 2 acceleration when two step acceleration is executed Note When used as one step acceleration 0 must be set First step linear decele
277. or Specifications __ 35 Encoder External Regeneration Resistors ___ 39 m Reactor and Parameter Unit Specifications p Connections C 41 o Circuit Diagrams C 46 Components and Functions C 47 E S Parameter C 49 P Dimensions C 51 S z M ana ement Related Manuals OMNUC W series D 1 System Configuration D Easy parameter management Interpreting Model Numbers D 3 o Ordering Information D 5 using a Support Softwate Servomotors and Decelerators Combinations D 11 3 Cable Combinations D 13 connected to AC Servo Drive Specifications D 15 AC Servomotor Specifications D 17 o Decelerator Specifications _ D 25 Specifications for Servomotors with Decelerators D 26 Connections D 30 Components and Functions D 32 z Parameter D 34 Dimensions D 38 Q Related Manuals D 45 SMARTSTEP Junior ENT 5 System Configuration F 4 o Interpreting Model Numbers ELS 1 1 l Ordering Information EU Less Time Spent on Startup and Maintenance dn EST AC Servo Drive Specifications E 8 e Parameters can be set and managed for multiple AC Servomotor Specifications B 9 Servo Drivers simply by connecting computer to the Et Controller with no need to connect the Support Connections fq lt Circuit
278. or for Servomotor Power 400 W R7G RGSF09C400 OK Cable R7A CNZ02A R7G RGSF15C400 OK For Cylinder type Motors Backlash 3 Arcminutes Max Regeneration Resistance Unit Specifications Model Motor capacity Model 7 P E M IET NN RB8A RGOBUA R7G VRSFPB05B100 OK R7G VRSFPB09B100 OK External Regeneration Resistor T R7G VRSFPB15B100 OK Specifications Model R7G VRSFPB25C100 OK Regeneration capacity 70 W 47 Q R88A RR22047S R7G VRSFPB05B200 OK R7G VRSFPB09C400 OK AC Reactors 200 W R7G VRSFPB15C400 OK Specifications Model R7G VRSFPB25C200 OK R7D ZNO1H ML2 R88A PX5052 R7G VRSFPB05C400 OK R7D ZNO2H ML2 R88A PX5053 R7G VRSFPB09C400 OK R7D ZNO4H ML2 R88A PX5054 400W R7G VRSFPB15C400 OK R7D ZNO8H ML2 R88A PX5056 R7G VRSFPB25D400 OK R7G VRSFPB05C750 OK R7G VRSFPB09D750 OK TOW R7G VRSFPB15D750 OK R7G VRSFPB25E750 OK SMARTSTEP Junior AC Servomotors and Servo Drives with Built in MECHATROLINK II Communications R7M Z R7D ZN ML2 E 4 Servomotors and T Controllers Controllers DTE CX Drive Servo System Controller New Product information OMNUC G Motion Control Units Position Control Units CHR EE Motor Selection Program Features Features Motion Network Lineup Concepts OMNUC W Junior LL cc lt 7 omnon
279. osition Control Unit CS1W NCL 171 9 Position Control Unit CJ1W NC 171 16 axes max overall cable length 100 m When repeater is used OMNUC W series AC Servo Drive with General purpose Pulse or Analog inputs R88D WT MECHATROLINK II Application Module JUSP NS115 AC Servo motor Sensors limit inputs origin proximity inputs etc OMNUC G series OMNUC W series SMARTSTEP Junior R88M G AC Servo Drive with AC Servo Drives with AC Servo Drives with Built in MECHATROLINK II Built in MECHATROLINK II Built in MECHATROLINK II Communications Communications Communications R88D GN ML2 R88D WNL ML2 R7D ZN ML2 Connect a JEPMC W6022 Terminator to the device AC Servo motor R88M G AC Servo motor R88M W AC Servo motor R7M Z at the end of the MECHATROLINK II network Front 5 Servo Control ersion 2 0 or Later Support for a Full Selection of Operating Modes Origin Search Operating Modes 11 Modes Total More origin search operating modes um Eleven origin search operation patterns such as for devices Origin detection Orinin searc with a small range of movement for workpieces a reduced method Reversal Reversal Single Reveal number of sensors etc are provided to support different mode 1 mode 2 direction mode mode 3 systems With origin proximity input signal r
280. otor from a 3000 2000 wide range of Servomotor capacities to cater dem to various applications T T T T T T T T T T x T 50W 300w 900W 1kW 3kW 5kW 6kW 7 5kW The rated speed is 1 500 r min for 7 5 kW Servomotors only Motor capacity ulwu 1 peeds M Sole Front 13 OMNUC G Error Recovery Is No Problem with an Absolute Encoder e Liquid crystal PCB vantages Conveyer Equipment Stacker Concepts e Absolute encoders are supported making it possible to eliminate origin positioning in daily equipment startup Axes can be started simultaneously by using synchronous communications control Low capacity to medium capacity Servomotors are provided New Product Information Motion Network Lineup Features Controller Features E gt 2 e 9 gt o Li Li 2 e Can Be Used for Component Press Fitting and Pressing Control 2 For example with this equipment H rex Wi i i e p quip Automotive Parts vantages Assembly Equipment g Metalworking and Resin 9 Position speed and torque control 55 m Processing Equipment torque limit can be achieved ee JL While performing position control operation can be switched to torque OF control Position Control Units Highly synchronized startup vt performance eliminates startup 2 delays betwee
281. output for Pn520 x Pn51E 100 or higher Deviation counter overflow level Sets the deviation counter overflow alarm detection level Pn520 gt Max feed speed command unit s Pn102 x 2 0 Positioning completed range 1 Setting range for positioning completed range 1 INP1 Positioning completed range 2 Setting range for positioning completed range 2 INP2 Deviation counter overflow level at Servo ON Sets the deviation counter overflow alarm detection level for Servo ON Deviation counter overflow warning level at Servo ON Sets the deviation counter overflow warning detection level for Servo ON Speed limit level at Servo ON Sets the speed limit for when the Servo turns ON with position deviation accumulated Program JOG operation related switches Program JOG operating pattern Sets the program JOG movement distance Sets the program JOG movement distance AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WN ML2 D 36 New Product Information Concepts Motion Network Lineup Controller Servomotors and Controllers CX Drive Servo System Motor Selection Program Features Features Position Control Units Controllers Motion Control Units OMNUC G SMARTSTEP Junior omnon Other Parameters from Pn600 Parameter name Explanation Regenerati
282. p input LLL Forward reverse rotation limit input Routing wires was difficult because of the number of wires involved L n Origin proximity input G series Servomotor Expanding or modifying equipment was complicated because the number of axes dictated the number of Units Settings took time because Controllers and Servo Drivers had to be set separately OMNUC G Series NEw Built in MECHATROLINK II Communications OMNUC W Series Built in MECHATROLINK II Communications Eliminates wiring Lm complicatio P LA Emergency stop input MS Forward reverse rotation limit input Origin proximity input 4 Single cable connection offers wiring flexibility SMARTSTEP mr and prevents mistakes Built in MECHATROLINK II Communications e Having just one cable to connect reduces wiring work Front 1 e Connecting limit input signals and origin proximity sensors directly to the Servo Drive saves time e Simple setup enables immediate trial operation and fine tuning of equipment Spent on Wiring It Easier to Use Simple Expansion e Control of up to 16 axes for NCF71 Position Control Units e Flexible control making it possible to start with a small number of
283. pecifications Model 450 W to 1 3 kW 20 R88A CAWCO20B Analog Monitor Cable 1 m R88A CMWO01S For 3000 r min Cylinder 30 R88A CAWC030B Computer Monitor Cable R88A CCWO02P2 type Motors 40m R88A CAWCO40B IBM PC AT or compatible 2 m 1 KW to 2 kW 50m R88A CAWCOSOB Control VO Connector CN1 R88A CNWO1C R88A CAWD003B Encoder Connector for Driver End R88A CNWO1R For 1000 r min Cylinder 5 R88A CAWDOOSB Encoder Connector for Motor End R88A CNWO2R type Motors 10m R88A CAWDO10B Connector Terminal Block Cables 1 m XW2Z 100J B16 Te NTO EW 15m R88A CAWDO15B Connector Terminal Block Cables 2 m XW2Z 200J B16 For 1500 r min Cylinder type Motors 1 8 kW 20m R88A CAWD020B For 3000 r min Cylinder 30 R88A CAWD030B type Motors 3kW 40 R88A CAWD040B 50m R88A CAWD050B Note If the cable must be bent use a Robot Cable for the Power Cable Refer to the tables on the following pages D 9 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WN ML2 omnon MECHATROLINK related Devices and Cables Manufactured by Yaskawa Corporation Name OMRON model number Yaskawa model number 0 5 FNY W6003 A5 JEPMC W6003 A5 1 0m FNY W6003 01 JEPMC W6003 01 3 0m FNY W6003 03 JEPMC W6003 03 nci ae De ante on both ends som FNY W6003 05 6003 05 10 0 6003 10
284. peed Parameter name Input signal selection 1 Servomotor travel distance 0 01 lt Pn20E Pn210 lt 100 rameters from Pn300 Description Sets the rotation speed for jog operation Sequence Parameters from Pn500 Description POT signal allocation Input signal selection 2 NOT signal allocation Input signal selection 7 STOP signal allocation Positioning completion width 1 Sets the positioning completion output 1 width Positioning completion width 2 Other Parameters Sets the positioning completion output 2 width from Pn800 Parameter name Communications control Description Digit No Warning check mask Function selection application 6 Software LS Software limit function Zero point width Sets the origin position output range Forward software limit Sets the software limit in the forward direction Reverse software limit Sets the software limit in the reverse direction Linear acceleration constant Sets the acceleration Linear deceleration constant Sets the deceleration Final travel distance for external positioning Sets the distance from the interrupt signal EXT1 input position during interrupt feeding See note 1 Zero point return mode settings Zero point return direction Zero point return approach speed 1 Sets the speed for after the origin proximity input signal turns ON
285. pprox 6 0 kg Approx 16 4 kg Maximum applicable motor capacity 2kW 3kW 5 kw 7 5 kW INC 3 000 r min Servomotors G4K030T G2K030T G3K030T G5KO30T AEn INC As Ica a 3 000 r min Flat Servomotors ervomotors ABS EM z 1 G4K020T 2 000 r min Servomotors ABS G2K020T G3K020T G5K020T G7K515T G3K010T 1 000 r min Servomotors G2K010T GAKBIDT G6KO010T Control method All digital servo Inverter method IGBT driven PWM method Speed control range 1 5000 Speed variability Load characteristic 0 01 or less at 0 to 100 at rated speed E Speed variability Voltage characteristic 0 at 10 of rated voltage at rated speed Speed variability Temperature characteristic 0 1 or less at 0 to 50 C at rated speed 3 Torque control reproducibility 3 at 20 to 100 of rated torque C 23 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNL ML2 Servomotor Specifications R88M G omn on General Specifications Item Ambient operating temperature and humidity 5 000 min Servomotors 3 000 r min 1 000 r min Servomotors Flat Servomotors 2 000 r min Servomotors 50 to 750 W 1to5 kW 100 to 400 W 900 W to 5 kW 6 to 7 5 kW 0 to 40 C 85 RH max with no condensation Ambient storage temperature and humidity 20 to 65 C 85 RH max with no co
286. protection IP 55 Excluding through shaft portion IP 67 Excluding through shaft portion Vibration grade V 15 Mounting method Flange mounting EN55011 class A group 1 EMC Directive EC EN61000 6 2 International age Directive IEC60034 8 standards IEC60034 8 EN60034 1 5 9 UL standards UL1004 cUL standards cUL C22 2 No 100 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WNL ML2 D 18 s tors and Controllers DERE EUR CX Drive Servo System Controller new Product infomation Concepts Position Control Units Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Motion Control Units OMNUC G SMARTSTEP Junior Torque and Rotation Speed Characteristics omnon 3 000 r min Cylinder type Servomotors with a 200 VAC Servo Drive The following graphs show the characteristics with a 3 m standard cable and 200 V AC input R88M W20030H T 200 W Nm R88M W05030H T 50 W N m 0 5 40 477 0 477 0 44 0 34 Repeated usage 0 24 0 159 0 159 93 Continuous usage 0 09 T T T T r min 1000 2000 3000 4000 5000 R88M W75030H T 750 W N m 8 04 7 16 7 16 6 04 Repeated usage 4 04 205 Continuous usage 146 R88M W10030H T 100 W N m 30 0955 0 955 0 84 065 Repeated usage 0 44 0 318 0 318 0 24 0 19 Continuous usage r m
287. r POWER Lit when the control power is being supplied Communications Indicator COM Lit when MECHATROLINK II communications are in progress Encoder Connector Specifications CN2 Pin No Signal Name 1 E5V Encoder power supply 5 V 2 EOV Encoder power supply GND 3 BAT Battery ABS 4 BAT Battery ABS 5 S Encoder phase S input 6 S Encoder phase S input Shell Shield ground L1 R88D WNLIH ML2 50 to 400 W Single phase 200 230 VAC 170 to 253 V 50 60 Hz No L3 terminal L2 R88D WNO8H ML2 750 W Main circuits Single phase 200 230 VAC 170 to 253 V 50 60 Hz power supply Note The L3 terminal is not used so do not connect it input R88D WNLOH ML2 500 W to 3 0 kW L3 Single phase 200 230 VAC 170 to 253 V 50 60 Hz R88D WNLIL ML2 50 to 400 W Single phase 100 115 VAC 85 to 127 V 50 60 Hz No L3 terminal DC Reactor R88D WNLJH ML2 500 W to 3 0 kW terminal for Normally short circuit between 1 and 2 power supply If harmonic control measures are required connect a DC Reactor between 1 2 harmonic control and Main circuit B1 C positive terminal Used for DC power supply input The R88D WNLIH ML2 500 W to 3 0 kW does have a terminal Main circuit Use the 2 terminal negative terminal L1C Control circuits R88D WNCIH ML2 Single phase
288. r 1 frequency for torque command Notch filter 1 Q value Sets Q value of notch filter 1 Notch filter 2 frequency Sets notch filter 2 frequency for torque command Notch filter 2 Q value Sets Q value of notch filter 2 Speed feedback filter time constant Sets constant during filter of speed feedback Vibration detection switches Vibration detection selection Vibration detection sensitivity Sets the vibration detection sensitivity Vibration detection level Sets the vibration detection level 2nd step 2nd torque command filter frequency Sets the filter frequency for internal torque commands 2nd step 2nd torque command filter Q value Sets the torque command filter Q value 3rd step torque command filter time constant Sets the filter time constant for internal torque commands 1st step 2nd torque command filter time constant Sets the filter time constant for No 2 gain internal torque commands Damping for vibration suppression on stopping Sets the vibration suppression value while Stopped Vibration suppression starting time Sets the time from when the position command becomes O0 until damping for vibration suppression on stopping begins Gravity compensation torque Sets the gravity compensation torque Sweep torque command amplitude Sets the sweep torque command amplitude D 35 AC Servomotors an
289. r inertia max Torque constant N m A 0 21 0 27 0 3 0 34 0 42 0 54 Power rate 1 kW s 10 2 11 7 26 0 10 2 11 5 25 5 Mechanical time constant ms 0 87 0 75 0 55 1 05 0 81 0 59 Electrical time constant ms 3 4 6 7 6 7 2 9 5 6 6 6 Allowable radial load 3 N 68 245 245 68 245 245 Allowable thrust load 3 N 58 98 98 58 98 98 Weight Without brake kg Approx 0 7 Approx 1 3 Approx 1 8 Approx 0 7 Approx 1 3 Approx 1 8 With brake kg Approx 0 9 Approx 2 Approx 2 5 Approx 0 9 Approx 2 Approx 2 5 Radiation shield dimensions material 10 mE 170 x 160 x t12 AI m Y mE 170 x 160 x t12 Al Applicable Servo Drives R88D GNO1L ML2 GNO2L ML2 GNO4L ML2 GNO01H ML2 GNO02H ML2 GNO4H ML2 Brake inertia 3x 106 9x 105 3x 108 9 x 105 Excitation voltage 4 V 24 VDC 10 Power consumption at 20 C w ri 10 10 10 10 Current consumption at 20 C A 0 29 0 41 0 41 0 29 0 41 0 41 2 Static friction torque N m 0 29 min 1 27 min 1 27 min 0 29 min 1 27 min 1 27 min Attraction time 5 ms 50 max 60 max 60 max 50 max 60 max 60 max o Release time 5 ms 15 max 15 max 15 max 15 max 15 max 15 max 8 Backlash 1 reference value Allowable work per braking 137 196 196 137 196 196 5 Allowable total work 44 1 x 108 147 x 103 147 x 108 44 1 x 108 147 x 108 147 x 108 Speed of 900 r min Spa changed in less than 10 ms Brake life _ 10 000 000 operations Rating _ Continuous
290. r less or less CLI d Surge killer MC X 1 G Servo error display OMNUC G Series OMNUC G Series 20 Servo Drive Power Cable AC Servomotor XB 2 O L1C Li c 24VDC 1MC Reactor CNA O L1 O L2 0 Ground to CNB 100 or less pee B1 3 Encoder Cable Regeneration O resistor 9 B2 CN1 15 ALM 24 VDC 16 ALMCOM X 24 VDC User T control device Control Cable 1 Recommended relay MY Relay 24 V by OMRON For example the MY2 Relay s rated inductive load is 2 A at 24 VDC and applicable to all G Series Servomotors with brakes 2 The brake is not affected by the polarity of the power supply 8 Connect B2 B3 for the models with a built in regeneration resistor GNO8H ML2 to GN15H ML2 If the amount of regeneration is large disconnect B2 B3 and connect an External Regeneration Resistor to B1 B2 4 Connect B2 B3 for the models with a built in regeneration resistor GNO8H ML2 to GN15H ML2 If the amount of regeneration is large disconnect B2 B3 and connect an External Regeneration Resistor to B1 B2 C 43 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNLT M
291. ration parameter Sets the step 1 deceleration for when two step deceleration is used Second step linear deceleration parameter Sets the step 2 deceleration for when two step deceleration is executed or the one step deceleration parameter for when one step deceleration is executed Deceleration parameter Switching speed Sets the switching speed for the step 1 and step 2 deceleration when two step deceleration is executed Note When used as one step deceleration 0 must be set Exponential acceleration deceleration bias Sets the bias for when an exponential filter is used for the position command filter Exponential acceleration deceleration time constant Sets the time constant for when an exponential filter is used for the position command filter Moving average time Sets the average movement time for when S curve acceleration deceleration is used and an average movement filter is used for the position command filter Final travel distance for external positioning Sets the distance from the external signal input position when external positioning is executed Note For a negative direction or if the distance is short operation is reversed after decelerating to a stop Zero point return mode settings Zero point return direction Zero point return approach speed 1 Sets the origin search speed after the decelera tion limit switch sign
292. rive Servo System Controller New Product information Conc apts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior Decelerator Specifications R88G HPG VRSF omnon Backlash 3 Arcminutes Max Decelerators for 3 000 r min Servomotors 1 Keep the maximum rotation speed at 4 500 r min or less Note 1 The values inside parentheses are for 100 V Servomotors Note 2 The Decelerator inertia is the Servomotor shaft conversion value Note 3 The protective structure for Servomotors with Decelerators satisfies IP44 Rated Rated Maximum Maximum Decelerator Allowable Allowable rotation Efficiency momentary momentary E radial thrust Weight Model speed torque rotation speed torque inertia load load r min N m r min N m kg m2 N N kg 1 5 R88G HPG11A05100B 600 0 60 75 1000 1 68 5 00 x 107 135 538 0 29 1 9 R88G HPG11A09050B 333 1 17 81 555 3 29 3 00 x 107 161 642 0 29 50W 1 21 R88G HPG14A21100B 143 2 18 65 238 6 13 5 00 x 10 340 1358 1 04 1 33 R88G HPG14A33050B 91 3 73 71 151 10 5 4 40 x 10 389 1555 1 04 1 45 R88G HPG14A45050B 67 5 09 71 111 14 3 4 40 x 10 427 1707 1 04 1 5 R88G HPG11A05100B 600 1 37 86 1000 3 8 5 00 x 10 7 135 538 0 29 1
293. roduct nfomstio Concepts Position Control Units Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Motion Control Units OMNUC G SMARTSTEP Junior 3 000 r min Cylinder type Servomotors without a Brake e 200 V AC 200 W 400 W 750 W R88M W20030H S1 W40030H S1 W75030H S1 R88M W20030T S1 W40030T S1 W75030T S1 300 30 B rn x L S 300 30 LL Four Z dia 21 5 gt omnon Dimensions of output section of 750 W Servomotors 2 aol Dimensions of shaft end with key S1 irs Gk l oN le 8 Four 7 dia These are the dimensions for the R88M WL1 S1 with key Dimensions mm ni E Flange dimensions Shaft end dimensions Model Cc D1 D2 F G 2 s QK R88M W20030 S1 96 5 30 6b 25 3 Four 5 5 14 20 R88M W40030L S1 124 5 dia R88M W75030 S1 145 40 80 90 70h7 3 16h6 30 3 000 r min Cylinder type Servomotors with a Brake 200 V 200 W 400 W 750 W R88M W20030H B S1 W40030H B S1 W75030H B S1 R88M W20030T B S1 W40030T B S1 W75030T
294. rt Names Display area Rotary switches MECHATROLINK II communications status LED indicator RS 232 Analog monitor check pins communications connector SP IM G N CN3 3 MECHATROLINK II communications connector WC CN6A CN6B x Main circuit power terminals O L1 N 112 13 o O 13 6 Control circuit power terminals OO LIC 1 L2C o O J C N 6 B External Regeneration Resistor L connection terminals B1 B2 B3 Control I O connector CN1 U V W Servomotor connection terminals Encoder connector CN2 Protective ground terminals R88D GNABL ML2 GNO1L ML2 GNO2L ML2 R88D GNO4L ML2 GNO1H ML2 GNO2H ML2 R88D GNO4H ML2 GNO8H ML2 GN10H ML2 R88D GN15H ML2 Main Circuit Connector CNA Symbol Name L1 L2 Main circuits power supply input L3 L1C Control circuit power supply input LG pply inp e Servomotor Connector CNB Symbol Name B1 B2 External Regeneration Resistor connection terminals B3 U V Ww Servomotor connection terminals Frame ground R88D GN20H ML2 GN30H ML2 GN50H ML2 Main Circuit Terminal Block Specifications Main circuit power supply input Control
295. s Servo Parameter Sasa ss OEBE 0 49 2 147 483 647 command units s sition control Control Acceleration decelera command tion speeds for position 1 to 65 535 10 000 command units s2 range control Speed command range 199 999 to 199 999 0 001 increments for speed control The upper limit of the speed command range depends on the specifications of the Servo Drive Torque command range 199 999 to 199 999 0 001 increments for torque control The upper limit of the torque command range depends on the specifications of the Servo Drive Servo lock unlock Locks or unlocks the Servo n Positions to an absolute position or relative position according to the target position and target speed specified from the Position control z d ladder program Linear interpolation for up to 4 axes is possible with appropriate settings Origin search Establishes the origin using the specified search method e Present position preset Changes the present position to a specified position to establish the origin Origin determination Origin return Returns the axis from any position to the established origin e Absolute encoder origin Establishes the origin using a Servomotor that has an absolute encoder without having to use an origin search Jogging Moves an axis at a fixed speed in the forward rotation or reverse rotation direction Performs positioning by moving the axis a fixed amount when an external interrupt input is received whil
296. s AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNLT ML2 omnon Single phase 100 VAC 400 W R88D GNO4L ML2 e Single phase Three phase 200 VAC 750 W R88D GNO8H ML2 Mounting Hole Dimensions 65 Two M4 a g if 2 B 4X J c i ize i 7 5 50 05 L 65 e Single phase Three phase 200 VAC 900 W to 1 5 kW R88D GN10H ML2 R88D GN15H ML2 85 70 172 4 Mounting Hole Dimensions Two M4 T 5 Bao 2 0 EIC V ool H oO ool 1 800 5 5 E y pw f 7 5 70 05 u gt lt 85 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNI ML2 C 52 S tors and a CX Drive Servo System Controller new product informatio Concepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control U
297. s R88M G R88D GNLT ML2 omnon Reactor 3G3AX DL2002 EUER 3G3AX AL2025 WU FEE SIRE 3G3AX DL2004 3G3AX AL2055 3G3AX DL2002 3G3AX AL2025 130 82 67 n ES Ground terminal M5 i N U 3G3AX DL2004 Six 4 3G3AX AL2055 140 98 75 l 1 terminal screws Go Terminal per P 2 RS block si W Two M4 Ground terminal I 56 4 Four 5 2 8 L o ii a i i i i i Ro RSo STo T jJ ds SSS des On T T T i
298. s is an OFF brake It is reset when excitation voltage is applied The operation time is the value reference value measured with a surge suppressor CR50500 manufactured by Okaya Electric Industries Co Ltd C 33 ML2 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GN Torque and Rotation Speed Characteristics 1 000 r min Cylindrical Servomotors e 1 000 r min Servomotors with 200 VAC Power Input The following graphs show the characteristics with a 3 m standard cable and a 200 VAC input R88M G90010T 900 W 201184 18 4 1600 N m Repetitive usage 1048 62 8 62 Continuous usage 4 31 0 1000 2000 r min R88M G4K510 4 5 kW 101 101 1300 Nm 100 Repetitive usage 50442 9 42 9 Continuous usage 0 1000 2000 r min OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GN R88M G2KO010T 2 kW N m 50 441 5 41 5 1600 34 9 N m Repetitive usage 25719 1 19 1 Continuous usage 9 5 0 1000 2000 r min R88M G6KO010T 6 kW 130 130 1500 Nm 1004 Repetitive usage 57 2 572 504 Continuous usage 0 1000 2000 r min 70160 35 128 4 284 0 omnon R88M G3KO010T 3 kW Repetitive usage Continuous usage 1000 ML2 60 1350 2000 r min C 34 Si tors and EU CX D
299. sed as incremental encoders AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WN ML2 D 4 Concepts Controller Servomotors and Controllers i CX Drive Servo System New Product Information Phal arnes ide Motor Selection Program Features Features Position Control Units Controllers Motion Control Units Motion Network Lineup OMNUC G SMARTSTEP Junior Ordering Information omnon AC Servomotors Cylinder type Servomotors 3000 r min with Incremental Encoder Straight shaft without key Specifications Without brake 50 W Model R88M W05030H 100 W R88M W10030H 200 W R88M W20030H 400 W R88M W40030H 750 W R88M W75030H With brake 50 W R88M W05030H B 100 W R88M W10030H B 200 W R88M W20030H B 400 W R88M W40030H B 75W R88M W75030H B Cylinder type Servomotors 3000 r min with Absolute Encoder Specifications R88M W05030T 100 W R88M W10030T Without brake 200 W R88M W20030T 400 W R88M W40030T Straight shaft 750 W R88M W75030T without key 50 W R88M W05030T B 100 W R88M W10030T B With brake 200 W R88M W20030T B 400 W R88M W40030T B 750 W R88M W75030T B Straight shaft with key Without brake 50 W R88M W05030H S1 100 W R88M W10030H S1 2
300. sent position IGNORE SINGLE BLOCK NSTOP Ignores single block mode ooo START PROGRAM PROG END Marks the beginning or end of a program SUBPROGRAM CALL Calls a subprogram or ends a subprogram and returns to the source of SUBPROGRAM END GOSUB RETURN the call DWELL WAIT DWELL WAIT Waits for a specified length of time or for a specified condition to be met and then executes the next block OPTIONAL END STOPOP Stops the block being executed when a specified condition is met Controls Conditional Branching IF ELS ENDIF Branches according to conditions WHILE Repeat Commands WHILE WEND Repeats until any specified condition is met FOR Repeat Commands FOR NEXT Repeats until specified count constant variable or immediate is met Parallel Execution PARALLEL JOINT JWAIT Executes in parallel for the specified interval Selected Execution SENE CASE BREAK DEFAULT Switches and executes the specified section according to conditions NO OPERATION SINGLE NO OPERATION MULTIPLE NOPS NOPM Nothing is executed Single or multiple execution command SUBSTITUTION Substitutes values for variables Simple Arithmetic Operations 4 Performs addition subtraction multiplication division and power operations operations REMAINDER Finds the remainder in division operations Logical x operations OR XOR AND NOT 5 amp Performs logical OR XOR AND and NOT operations ABSOLUTE ABS Finds the absolute value SINE COSINE ASINE
301. sh Compensation e Backlash compensation can be set to correct for backlash when the machine performs reciprocating operation Note Refer to information on the parameters for details MECHATROLINK II is a registered trademark of the MECHATROLINK Members Association Servomotors and Servo Drives Selection Guide New Product Information Motion Network Lineup Concepts Controller Features Servo System Features CX Drive 2 o Selection Guide E G 2 E 7 Controllers Controllers OMNUC W OMNUC G Motion Control Units Position Control Units SMARTSTEP Junior Front 20 omnon SYSMAC CJ CS series MECHATROLINK II compatible Position Control Unit CJ1W NCL171 CS1W NCL_ 71 Decrease TCO with Simple Operation Reduced Wiring Batch Settings and Batch Management e Overview Control Servos for up to 16 axes in a motion network with one Position Control Unit that supports MECHATROLINK II See note e Features e Even Smaller Positioning of up to 16 axes be controlled with a body the size of one CS CJ series Unit The compact body provides a perfect fit to meet the need for downsizing of equipment for multi axis control e Single cable Connection with Flexible Wiring Placement With MECHATROLINK II connecting to the Servo Drive is easy Just use a single cable 2 core shielded twisted pair cable Reduced wiring with a total cable
302. t in MECHATROLINK II Communications R88M G R88D GN ML2 C 44 S tors and UA CX Drive Servo System Controller new product informatio Concepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior omnon R88D GN75H ML2 RST Three phase 200 to 230 VAC 50 60 Hz Noise filter Main circuit contactor id X ON i gt Ground to T 2 1 100 or less LL Surge killer X 1MC GO ars Servo error display OMNUC G Series OMNUC G Series AC Servo Drive AC Servomotor _ Cable oa 2 7 f 24VDC 1 nc n Reactor Ground to Regeneration 100 Q or less resistor 3 L wo Encoder Cable PE Fan Stop 24 VDC X 24 VDC User Q T control device Control Cable 1 Recommended relay MY Relay 24 V by OMRON For example the MY2 Relay s rated inductive load is 2 A at 24 VDC and applicable to all G Series Servomotors with brakes 2 The brake is not affected by the polarity of the power supply 8 The model GN75H ML2 does not have a built in regeneration resistor If the amount of regeneration is large an External Regeneration Resistor must
303. t portion Voss uds t20 x 1400 Fe 130 x 1550 Fe material Vibration grade V 15 Applicable load inertia 5x Mounting method Flange mounting 2 Brake inertia K 21104 21x104 21 104 85 104 85 104 55011 class A group 1 GD2 4 Direc ET tive EN61000 6 2 Excitation v 24 VDC 10 EC voltage Inter Direc LOW Power con na tives Volt IEC60034 8 sumption w 9 85 9 85 9 85 18 5 18 5 tional ECG0034 8 EN60034 1 20 stan Direc 5 9 dards tive Current con sumption A 0 41 0 41 0 41 0 77 0 77 UL standards UL1004 Brake at 20 C cUL stan speci aards cUL C22 2 No 100 ficas no ins Nm 441min 127 127min 43 1min 43 1 min tions _ tion torque Anraciion ms 180 max time pegase ms 100 max time Backlash 1 reference value Rating Continuous Insulation grade E Type F D 21 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WNL ML2 Torque and Rotation Speed Characteristics omnon 1 000 r min Cylinder type Servomotors with a 200 VAC Servo Drive The following graphs show the characteristics with a 3 m standard cable and 200 V AC input R88M W30010H T 300 W N m 81 70 1875 61 62 Repeated usage 2 84 Continuous usage T T T r min 500 1000 1500 2000 R88M W1K210H T 1 2 kW 304 28 0 274 1800 204
304. ter overflow level ML2 C 50 S tors and SERT DHUEIR CX Drive Servo System Controller New Product information opts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior Dimensions Servo Drives e Single phase 100 VAC 50 to 100 W R88D GNASL ML2 R88D GNO1L ML2 e Single phase 200 VAC 50 to 200 W R88D GNO1H ML2 R88D GNO02H ML2 40 132 i39 Co Pozo VZO 0000 00000 EI 150 000000 z cERSS J ee pe omnon Unit mm Mounting Hole Dimensions Two M4 2 g I y 6 28 0 5 40 lt gt e Single phase 100 VAC 200 W R88D GNO2L ML2 Single phase 200 VAC 400 W R88D GNO4H ML2 55 lt I i 1 Bo tit nunan 5 150 000000 lt cRS2 oooo 132 Mounting Hole Dimensions Two M4 OO E o I iD o 1 y 25 6_ 43 05 gt 55 ae C 51 OMNUC G serie
305. tion Storage and operating atmosphere No corrosive gases Vibration resistance 5 9 m s max Performance Specifications Item Specifications Type Hand held Cable length 1 5m Connectors Mini DIN 8 pin MD connector Display 7 segment LED External dimensions 62 x 114 x 15 mm W x H x D Weight Approx 0 1 kg including cable that is provided Standard RS 232 A Communications method Asynchronous ASYNC 5 Baud rate 9 600 bps E Start bits 1 bit 2 Data 8 bits 2 Parity None Stop bits 1 bit OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GN ML2 C 40 S tors and meee CX Drive Servo System Controller New Product Information Concepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior omnon Connections Control I O Connector Specifications CN1 Control I O Signal Connections and External Signal Processing 12 to 24 VDC m T TEmergency Stop Alarm Output j STOP 2 ALMCOM External CI Latch 3 EXT3 3 General purpose Output 1 OUTM1COM External Latch 2 EXT2 4 Onis T General purpose Output 2 OUTM2COM External Latch 1 EXT1
306. to the end of the model number C 59 OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNLT ML2 omnon e 4 5 kW R88M G4K510T S2 R88M G4K510T B S2 Servomotor brake Dimensions of shaft end connector LE 113 with key and tap Eye bolt 176 176 Nominal 243 2 e 90 Encoder connector diameter iu a Four 13 5 dia ino e eee e 3 A i 12 height 9 7 L4 8 5 i Sa 3 Ss LL ed EL 3 dE 0 1 R88M G4K510T 300 5 z M12 depth 25 R88M G4K510T B 337 5 Note The standard models have a straight shaft A model with a key and tap is indicated by adding S2 to the end of the model number e 6 kW ABS Brake connector Motor Eye bol R88M G6KO010T S2 connector Nominal diameter 10 Dimensions of shaft end R88M G6K010T B S2 S with key and tap Encoder 2432 Four 13 5 dia connector r fs 12 height 9 E ES E col S L M16 depth 32 R88M G6K010T R88M G6K010T B 380 5 Note The standard models have a straight shaft A model
307. tors and Servo Drives with Built in MECHATROLINK II Communications R7M Z R7D ZN_I ML2 Easily Implement Positioning with Compact Servo Drives using Built in MECHATROLINK II Communications e Data Communications with MECHATROLINK II Data communications are used to transfer all control information between the Servo Drive and Controller This enables using the performance of the Servo Motor to the limit because there are no restrictions imposed by the transmission performance of control signals e Easy to Use This Plug and Play Servo System reduces system startup time To achieve stable control automatic control and adjustment functions are provided Operation can be started quickly without any difficult settings System Configuration Motion Control Unit Main Circuit Connector R7A CNZO1P CJ1W MCH71 Position Control Unit SYSMAC Cu series PLC MECHATROLINK II Cable CJ1W NCLI71 MECHATROLINK II Cable With ring core and USB connector on both ends FNY W6003 OMRON model number Motion Control Unit MECHATROLINK II Repeater Using the CJ1W MCH71 or C81W MCH71 Maximum transmission distance 0to30m 30to 50m Number of 1to 15 Repeater not required Repeater not required connected 16 Repeater not required Repeater required devices 17 to 30 Repeater required Repeater required
308. transfer using MECHATROLINK I See Note 1 Communications All control data that can be interfaced between the Servo Drive and the Controller is transmitted using data communications This enables maximizing the Servomotor performance without restricting the transmission performance of the control signals e Having a communications module built into the Servo Drive significantly saves space in the control panel Note 1 MECHATROLINK II is a registered trademark of the MECHATROLINK Members Association Note 2 CX Drive version 1 62 support for OMNUC G series Servo Drives with MECHATROLINK II Communications System Configuration can be obtained by using the CX One V2 V3 auto update function from July 31 2008 Monitor Software Parameter Unit CX Drive See Note 2 CE SYSMAC Cu series PLC SYSMAC CS series PLC Personal Computer Monitor Cable R88A CCG002P2 e Position Control Unit MECHATROLINK II MECHATROLINK II Cables CJ1W NC271 NEW CS1W NC271 With ring core and USB connector on both ends CJ1W NC471 NEW CS1W NC471 NEW FNY W6003 OMRON model number CJ1W NCF71 CS1W NCF71 CJ1W NCF71 MA NEW MECHATROLINK II Repeater or Maximum transmission distance connecter devices 0 to 30 m 30to50m 50 to 100m 1 to 15 Repeater not required Repeater not required Repeater required 16 Repeater not required Repeater required Support Software e CX On
309. uide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior omnon 3 000 r min Flat Servomotors Specifications Model Straight shaft Straight shaft with key and tap 100W R88M GP10030L R88M GP10030L S2 9 100 V 200 W R88M GP20030L R88M GP20030L S2 5 400 W R88M GP40030L R88M GP40030L S2 3 100 W R88M GP10030H R88M GP10030H S2 200 V 200 W R88M GP20030H R88M GP20030H S2 400 W R88M GP40030H R88M GP40030H S2 100 W R88M GP10030L B R88M GP10030L BS2 100 V 200 W R88M GP20030L B R88M GP20030L BS2 oe E 400W R88M GP40030L B R88M GP40030L BS2 100 W R88M GP10030H B R88M GP10030H BS2 200 V 200 W R88M GP20030H B R88M GP20030H BS2 400 W R88M GP40030H B R88M GP40030H BS2 Note Models with oil seals are also available PETI em 3 000 r min Flat Servomotors Specifications Model Straight shaft Straight shaft with key and tap 100W R88M GP10030S R88M GP10030S S2 100 V 200 W R88M GP20030S R88M GP20030S S2 5 400 W R88M GP40030S R88M GP40030S S2 3 100 W R88M GP10030T R88M GP10030T S2 200 V 200 W R88M GP20030T R88M GP20030T S2 400 W R88M GP40030T R88M GP40030T S2 100 W R88M GP10030S B R88M GP10030S BS2 100 V 200W R88M GP20030S B R88M GP20030S BS2 ay 400 W R88M GP40030S B R88M GP40030S BS2 100 W R88M GP10
310. unications R88M G R88D GN 900 W R88M G90010T R88M G90010T S2 2 kW R88M G2K010T R88M G2K010T S2 200 V 3kW R88M G3K010T R88M G3K010T S2 2 4 5 kw R88M G4K510T R88M G4K510T S2 u 6 kW R88M G6K010T R88M G6K010T S2 900 W R88M G90010T B R88M G90010T BS2 2 2kW R88M G2K010T B R88M G2K010T BS2 200 V 3 kW R88M G3K010T B R88M G3K010T BS2 4 5 kw R88M G4K510T B R88M G4K510T BS2 6 kW R88M G6K010T B R88M G6K010T BS2 ML2 C 8 S tors and dervo Drive CX Drive Servo System Controller New Product Information Concepts Selection Guide Motor Selection Program Features Features Motion Network Lineup Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior omnon Decelerators Backlash 3 Arcminutes Max Backlash 3 Arcminutes Max Decelerators for 3 000 r min Cylindrical Servomotors Decelerators for 3 000 r min Flat Servomotors Straight shaft Straight shaft Specifications Specifications Motor capacity Gear ratio ees Motor capacity Gear ratio ee 1 5 R88G HPG11A05100B 1 5 R88G HPG11A05100PB 1 9 R88G HPG11A09050B 1 11 R88G HPG14A11100PB 50 W 1 21 R88G HPG14A21100B 100 W 1 21 R88G HPG14A21100PB 1 33 R88G HPG14A33050B 1 33 R88G HPG20A33100PB 1 45 R88G HPG14A45050B 1 45 R8
311. vements and other reasons Consult with your OMRON representative at any time to confirm actual specifications of purchased product DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORMANCE DATA Performance data given in this catalog is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of OMRON s test conditions and the users must correlate it to actual application requirements Actual performance is subject to the OMRON Warranty and Limitations of Liability Note Do not use this document to operate the Unit Authorized Distributor
312. vomotor Connector 3 000 r min 50 to 750 W R88A CRG C Connector Connector A 3 to 20 m L 172161 1 absolute encoder The empty boxes in the model Crimped VO connector Tyco Electronics AMP KK Flat Servomotors 3 000 r number are for the cable length pins The cable can be 3 5 10 15 Molex Japan Co Ltd i Eit I Tyco Electronics AMP KK 100 to 400 W absolute 20 30 40 or 50 m long i encoder Molex Japan Co Ltd Cylindrical Servomotors Servo Drive Connector Servomotor Connector 3 000 r min 50 to 750 W R88A CRGB C Connector x 3 to 20 172160 1 Standard incremental encoder The empty boxes in the model Crimped VO connector L Electronics AMP KK Molex Japan Co Ltd 30 to 50 m 55100 0670 Molex Japan Co Ltd Connector pins 50639 8028 Molex Japan Co Ltd c H 6 5 dia 6 8 dia Connector pins 170365 1 Tyco Electronics AMP KK 171639 1 Tyco Electronics AMP KK Cylindrical Servomotors 3 000 r min 1 to 1 5 kW Cylindrical Servomotors 2 000 r min 1 to 5 kW Cylindrical Servomotors 1 500 r min 7 5 kW Cylindrical Servomotors 1 000 r min 900 W to 6 kW R88A CRGCI N The empty boxes in the model number are for the cable length The cable can be 3 5 10 15 20 30 40 or 50 m long Servo Drive Connector Connector 31020 m Crimped VO connector Mo
313. w OMRON Motion Network Servo Systems SYSMAC CS CJ series AC Servomotors and Servo Drives Position Control Units with Built in MECHATROLINK II MECHATROLINK II Communications CJ1W NC271 471 NEW OMNUC G Series NEW CS1W NC271 471 NEW R88M G R88D GN _ ML2 CJ1W NCF71 OMNUC W Series CS1W NCF71 R88M W R88D WNL_ ML2 CJ1W NCF71 MA NEW SMARTSTEP Junior Motion Control Units R7M Z R7D ZN _ ML2 MECHATROLINK II CJ1W MCH71 CS1W MCH71 Motion Networks Change the Way Equipment Operates Controllers AC Servomotors and Servo L Drivers Supporting MECHATROLINK IT Compatibility Means Less Time Single cable Connecti on Simplifies Wiring and Makes Before Position Control Unit Servo Drive with Pulse Train Input SYSMAC CS CJ series Programmable Controller Emergency stop input L r5 Forward reverse rotation limit input L Origin proximity input CJ1W NC Servo Drive with Pulse Train Input Position Control U I CS1W NCI 171 Position Control Unit m WE e Emergency stop input D L e Ferward reverse rotation limit input L n Origin proximity input Servo Drive with Pulse Train Input G series Servo Drive with Built in MECHATROLINK II Communications MN Emergency sto
314. when the position deviation is within positioning completed range 2 Pn524 INP2COM output VCMP is withi ity si C Speed conformity output re the Servomotor speed error is within the speed conformity signal output range VCMPCOM Pn503 TGON Servomotor rotation ON when the Servomotor rotation speed exceeds the value set for the Servomotor rotation TGONCOM detection output detection speed Pn502 READY 3 Xr ee Servo ready output ON if no errors are discovered after powering the main circuits READYCOM CLIMT imi i Curent imit detecten ON if the output current is limited CLIMTCOM output VLIMT ito Speed limit detection output ON if the speed is limited 23 to 26 VLIMTCOM BKIR 1 SO1 EKIHCOM Brake interlock output Holding brake timing signals are output according to user parameters Pn506 Pn507 and Pn508 2 501 WARN 2 TP Warning output ON when an overload warning or regeneration overload warning is detected F WARNCOM Not allocated 23 SO2 Not allocated 24 SO2 General purpose outputs Allocations are set by the user parameters Not allocated 25 SO3 Not allocated 26 503 Shell FG Frame ground Connection terminal for cable s shielded wire and FG line Note The numbers in parentheses show the default pin number allocations Terminal names are shown in brackets D 33 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M
315. with 100 VAC Power Input The following graphs show the characteristics with a 3 m standard cable and a 100 VAC input R88M GP10030L S 100 W N m 1 0 0 84 0 84 3500 Repetitive usage 0 5 70 32 Continuous usage 0 19 0 1000 2000 3000 4000 5000 r min R88M GP20030L S 200 W N m 2 041 8 1 8 3400 Repetitive usage 1010 64 Continuous usage 0 38 0 1000 2000 3000 4000 5000 r min e 3 000 r min Servomotors with 200 VAC Power Input The following graphs show the characteristics with a 3 m standard cable and a 200 VAC input R88M GP10030H T 100 W N m 1 040 86 0 86 Repetitive usage 0510 32 0 32 Continuous usage 0 19 0 1000 2000 3000 4000 5000 r min OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GN R88M GP20030H T 200 W N m 2011 8 1 8 4500 Repetitive usage 1 04 0 64 0 64 Continuous usage 0 38 0 1000 2000 3000 4000 5000 r min R88M GP40030L S 400 W N m 4 01436 3 6 3300 Repetitive usage 2 04 1 3 15 Continuous usage 0 78 0 1000 2000 3000 4000 4500 r min R88M GP40030H T 400 W Nm 4 0 43 65 3 65 3600 Repetitive usage 2 04 1 3 Continuous usage 0 78 0 1000 2000 3000 4000 5000 r min ML2 C 30 S tors and pace gay CX Drive Servo System Controller new product informatio Conc
316. x R88A CNGO1A Brake Cable Connector 750 W max R88A CNGO1B OMNUC G series AC Servomotors Servo Drives with Built in MECHATROLINK II Communications R88M G R88D GNI ML2 C 20 Concepts New Product Information Motion Network Lineup Controller Features CX Drive Servo System Features Motor Selection Program Servomotors and Servo Drives Selection Guide Controllers Position Control Units Controllers Motion Control Units OMNUC W SMARTSTEP Junior Servo Drive Specifications R88D GN ML2 omnon General Specifications Item Specifications Ambient operating temperature and humidity 0 to 55 C 90 RH max with no condensation Ambient storage temperature and humidity 20 to 65 90 RH max with no condensation Operating and storage atmosphere No corrosive gases Vibration resistance Smaller of either 10 to 60 Hz with double amplitude of 0 1 mm or acceleration of 5 88 m s max in X Y and Z directions Impact resistance Acceleration of 19 6m s max 2 times each in X Y and Z directions Insulation resistance Between power supply power line terminals and frame ground 0 5 min at 500 VDC Dielectric strength Between power supply power line terminals and frame ground 1 500 VAC for 1 min at 50 60 Hz Between each control signal and frame ground 500 VAC for 1 min Protective structure
317. yo Co Ltd z 9 lt For 3 000 r min Cylinder type Servomotors 3 kW For 1 500 r min Cylinder type Servomotors 1 8 kW For 1 000 r min Cylinder type Servomotors 1 2 kW to 2 kW Note Please refer to page 9 for details D 13 AC Servomotors and Servo Drives OMNUC W Series with Built in MECHATROLINK II Communications R88M W R88D WN R88A CAWDCT IB The OOL digits in the model number indicate the cable length 3m 5m 10m 15 20 30 40 50 Connector MS3106B24 10S Daiichi Denshi Kogyo Co Ltd Cable clamp MS3057 16A Daiichi Denshi Kogyo Co Ltd ML2 omnon Encoder Cables CN2 Name Servomotor type Symbol Servomotors 50 W to 750 W For 3 000 r min Flat style For 3 000 r min Cylinder style Servomotors 100 W to 1 5 kW Model number R88A CRWA C The digits in the model 3m 5 10 15 m 20m 30 40 50 number indicate the cable length Description Servomotor connector Molex Japan Co Ltd Connector socket 54280 0600 Servo Drive connector Molex Japan Co Ltd Connector plug 55101 0600 Crimp terminal 50639 8091 U L 1 CB 2 Encoder Cable Servomotors 1 kW to 3 kW Servomotors 3

Download Pdf Manuals

Related Search

Related Contents

  Lenoxx L30 BF-2 User's Manual  SPINTEC 443 SPINTEC 443 H SPINTEC 443 DS  Manual del usuario    Sanitas SIL 16  Owner`s Manual  Organisation mondiale de la Santé  PVES User Manual-4.10  

Copyright © All rights reserved. Failed to retrieve file